NDLI: Proposal of roll angle control method using positive and negative anti-dive force for electric vehicle with four in-wheel motors

Content Provider	IEEE Xplore Digital Library
Author	Ochi, N. Fujimoto, H. Hori, Y.
Copyright Year	2013
Description	Author affiliation: Univ. of Tokyo, Kashiwa, Japan (Ochi, N.; Fujimoto, H.; Hori, Y.)
Abstract	Electric vehicles (EVs) have been gaining a lot of attention due to its environmental friendliness. EVs can be controlled precisely with the quick response of the motor. Moreover, using in-wheel motors, several types of motion controls can be performed. Therefore, such motion control of EVs have been intensely researched. This paper focuses on the control of roll angle which occurs during cornering. If this roll angle becomes large, steering response will be deteriorated, and also stability will decrease. Therefore, it is necessary to appropriately control the roll angle. In this paper, roll angle control method using positive and negative anti-dive force for EVs with four in-wheel motors has been proposed. Using positive and negative anti-dive force, the number of necessary actuators such as active suspensions can be reduced. The proposed method is also considering workload control of each wheel based on least square method. By estimating the roll moment disturbance using the roll moment observer, roll angle control has become a robust control system against disturbances. Thus, the proposed method allows improvement of vehicle's stability, safety and riding comfort during cornering. The effectiveness of the proposed method is verified by simulation and experimental results. Results of the roll angle control system without workload consideration and results of the case with workload consideration are also compared.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	816
Ending Page	821
File Size	412050
Page Count	6
File Format	PDF
ISBN	9781467313865
e-ISBN	9781467313889
e-ISBN	9781467313872
DOI	10.1109/ICMECH.2013.6519146
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-02-27
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Wheels Vehicles Control systems Mathematical model Equations DC motors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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