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World Electric Vehicle Journal is published by MDPI from Volume 9 issue 1 (2018). Articles in this Issue were published by The World Electric Vehicle Association (WEVA) and its member the European Association for e-Mobility (AVERE), the Electric Drive Transportation Association (EDTA), and the Electric Vehicle Association of Asia Pacific (EVAAP). They are hosted by MDPI on mdpi.com as a courtesy and upon agreement with AVERE.
Open AccessArticle

Improvement of EV Maneuverability and Safety by Dynamic Force Distribution with Disturbance Observer

1
Department of Electrical Engineering, the University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8505, Japan
2
Institute of Industrial Science, the University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8505, Japan
*
Author to whom correspondence should be addressed.
World Electr. Veh. J. 2007, 1(1), 258-263; https://doi.org/10.3390/wevj1010258
Published: 28 December 2007
Multi-wheel driven EV is referred to as an over-actuated system in the motion control synthesis process. It is meaningful to use the redundant actuators to maintain the control reliability and thus improve the dynamics of EV. In this paper, a dynamic optimum force distribution method which utilizes redundant motors is discussed. Besides, we also mention a disturbance observer to estimate the tire friction conditions. Incorporated with active yaw moment control, the proposed method is evaluated by the experiments. The results show the proposed method can improve dynamics and keep handling stability of the EV.
Keywords: Dynamic force distribution; motion control; disturbance observer; electric vehicle Dynamic force distribution; motion control; disturbance observer; electric vehicle
MDPI and ACS Style

He, P.; Hori, Y. Improvement of EV Maneuverability and Safety by Dynamic Force Distribution with Disturbance Observer. World Electr. Veh. J. 2007, 1, 258-263.

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