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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

Rolling Stability Control Based on Electronic Stability Program for In-wheel-motor Electric Vehicle

University of Tokyo, Tokyo, Japan
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Author to whom correspondence should be addressed.
World Electr. Veh. J. 2009, 3(1), 34-41; https://doi.org/10.3390/wevj3010034
Published: 27 March 2009
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Abstract

In this paper, a novel robust rolling stability control (RSC) based on electronic stability program (ESP) for electric vehicle (EV) is proposed. Since EVs are driven by electric motors, they have the following four remarkable advantages: (1) motor torque generation is quick and accurate; (2) motor torque can be estimated precisely; (3) a motor can be attached to each wheel; and (4) motor can output negative torque as a brake actuator. These advantages enable high performance three dimensional vehicle motion control with a distributed in-wheel-motor system. RSC is designed using two-degree-of-freedom control (2-DOF), which achieves tracking capability to reference value and disturbance suppression. Generally, RSC and YSC are incompatible. Therefore, ESP, which is composed of estimation system(S1) and integrated vehicle motion control system(S2) is proposed. A distribution ratio of RSC and YSC is defined based on rollover index (RI) which is calculated in S1 from rolling state information. The effectiveness of proposed methods are shown by simulation and experimental results.
Keywords: rolling stability control; electric vehicle; disturbance observer; two-degrees-of-freedom control; vehicle motion control; identification rolling stability control; electric vehicle; disturbance observer; two-degrees-of-freedom control; vehicle motion control; identification
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Kawashima, K.; Uchida, T.; Hori, Y. Rolling Stability Control Based on Electronic Stability Program for In-wheel-motor Electric Vehicle. World Electr. Veh. J. 2009, 3, 34-41.

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