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Referring to a 4-wheel drive Formula Student Electric vehicle, a fractional-slot synchronous permanent magnet machine has been designed. Torque density has been improved adopting outer rotor topology and lightweight materials. An ironless rotor with PMs placed in an Halbach array configuration allows reduced rotor inertia to be obtained. The results described in the paper provide a quantitative assessment...
In this paper, a robust and an efficient tracking controller based on model reference adaptive system (MRAS) technique is performed for mobile robot in order to get the accurate trajectory tracking performance. The model reference adaptive system (MRAS) technique has been presented so as to achieve the estimated value of system's speed information. To estimate the rotor position and speed of the mobile...
Wheel hub drives provide the opportunity to control the torque at every wheel independently. Thus, safety functions like anti-lock braking system (ABS) or electronic stability control (ESC) can be implemented in the drives as well. This enables the substitution of friction brakes at the driven wheels by electric drives. In this paper, resulting requirements for the drive system are presented and an...
Distributed electric vehicles are typical over- actuated systems, therefore, the optimal torque distribution can be realized through the driving wheels. It is meaningful to extend driving range and reinforce stability of vehicles by using optimal torque allocation methods. In this paper, a quadratic programing based torque allocation strategy is proposed to minimize the drivetrain power loss and utilize...
It is necessary to detect vehicle speed to calculate the slip ratio in slip control systems. However, it is hardly to measure the vehicle speed directly for electric vehicle (EV) with in-wheel motors. So, this paper proposed a new slip ratio estimation method for EV with in-wheel motors based on Extended Kalman Filter (EKF) without detecting the vehicle speed. This method takes advantage of the features...
In this paper, the circuit model of the parallel connected induction motors driven by single inverter is established. According to the circuit model, the problem of unbalanced electromagnetic torque caused by the wheel diameter difference of the parallel connected motors is analyzed. The weighted vector equation of the parallel connected motors is established. To improve the control performance with...
Compared with the traditional electric vehicle whose drive axle is composed of one single electric motor and differential, four-wheel-drive electric vehicle with in-wheel motor has tremendous potential and freedom to design various chassis dynamic control system. In this paper, a driving-mode switching regulation applied to this kind of electric bus for energy conservation is presented, by using minimum-...
Understanding the need for improvement in efficiency of an electric vehicle drivetrain system, this paper exclusively discusses various design aspects of a permanent magnet machine drive for direct-drive electric vehicles (EV). Firstly, the motivation to employ a direct-drive configuration in EV is discussed. Thereafter, initial electric machine rating design considerations for a typical Supermini...
Electrified drive trains for tractors open great possibilities of raising performance in heavy agricultural operations due to high controllability and drive torque feedback. However, electric motor characteristics do not completely satisfy traction requirements in agricultural operations which imply high torques at low speeds as well as high transport speeds. The paper proposes to apply a winding...
For an electric vehicle, motor selection is very important as it mainly determine its efficiency, cost and reliability. A particular motor may behave differently under different driving conditions. The driving behavior for an urban and suburban region is represented by its drive cycle. Thus, motor must be analyzed based on different drive cycles. In this paper, analysis of an induction motor for different...
Formula Student is a university competition around the world where students are required to design, construct and compete with a race car in static and dynamic tests. Since few years ago, this competition has moved to electric propulsion. ETSEIB Motorsport Team at Barcelona, Spain has develop an electric race car and this paper presents the EMR and IBC developed for that in order to analyze the car...
The reaction wheel pendulum is an underactuated electromechanical system consisting of a pendulum with an un-driven rotation axis at one end and a motor-driven wheel at the other end. Current flow in the motor induces a torque on the wheel and a corresponding reaction torque on the pendulum. This type of system has been studied by various researchers over the past decade, but in every case under the...
With the application and promotion of electric vehicles, vehicle security problems caused by actuator reliability have become increasingly prominent. Firstly, the paper analyses and sums motor failure modes and their effects of permanent magnet synchronous motor (PMSM) , which is commonly used on electric vehicles. And then design a hierarchical structure of the vehicle control strategies and the...
Articulated vehicles are suitable for working on bumpy road and in narrow space. They are used in open-pit mine vehicles and underground vehicles. In this paper we focus on driving control strategy of 4-wheel articulated electric drive vehicles. By analyzing characteristics of articulated vehicles and working performance of in-wheel motor, we conclude a control strategy which is under the load distribution...
Design of a four-wheel vehicle model using in-wheel permanent magnet synchronous motor (PMSM) based electric drives is outlined in the paper. System architecture, components and basic control principles are presented. The vehicle model is intended to be applied as an experimental platform to support control design processes in association with electric vehicles that use minimized level of mechanics,...
In-wheel traction allows simplicity and freedom for the design of hybrid-electric/electric vehicle (HEV/EV). However, the in-wheel motor increases the unsprung mass and hence deteriorates ride comfort and reduces the road holding capability of the car. To solve these problems, this paper proposes an indirect drive in-wheel traction system including a light-weight in-wheel drive and a specially designed...
In this paper, we model an electronic differential that will offer the best stability of vehicle in the curved road. The use of electronic differential constitutes a technological advance of vehicle design along the concept of more electric vehicles. Electronic differential have the advantages of replacing loosely, heavy and inefficient mechanical transmission and mechanical differential with a more...
This paper presents a surface mounted (SM) permanent-magnet (PM) in-wheel motor for the propulsion of a small plug-in hybrid electric vehicle (PHEV) for urban use. The electric machine is a fractional number of slots per number of poles motor using concentrated winding (wound around one tooth). First the authors detail the technical specifications: the maximal torque and power respectively equal to...
This paper addresses the active control of a hybrid energy storage device, comprised of both battery and ultracapacitor cells embedded in a full electric shuttle. To distribute the power flows within the energy storage device, two criteria are under study, namely battery stress and global heat release minimization, and they are showed to be antagonistic. The optimization is carried out offline via...
In this paper, an intelligent electric power steering system use with Permanent magnet synchronous motor drive is proposed It is to replace a traditional hydraulic power steering system and implemented in a real light hybrid electric vehicle for automotive application. Some control Technique is applied to yield basic assist logic, return compensation logic, damping compensation logic, and inertia...
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