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RISS 인기검색어
- 검색키워드
- 저자 : Arben Cela (검색결과 2 건)
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Road condition estimation and longitudinal control for electric vehicles
Marcel Stefan Geamanu,Arben Cela,Guenael LeSolliec,Hugues Mounier,Silviu-Iulian Niculescu 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper presents a road condition estimator based on the wheel acceleration and a torque controller for a vehicle equipped with an electric motor. In the first step, the instantaneous friction coefficient and the maximum friction coefficient between the wheel and the road are estimated, without knowing a priori the road conditions. Next, a longitudinal controller is set up to ensure the two main functions : braking with anti-skidding function and traction control using the electric motor torque as a unique actuator. Unlike the torque generated by classic internal combustion engines, the torque of electric motors is available almost instantaneously. In addition, it can be measured on-line which means that advanced control techniques can be applied. The approach presented in this paper relies on recent algebraic techniques for numerical differentiation and diagnosis, and a feedback sliding mode control scheme to ensure the vehicle is operated at the maximum friction zone in both acceleration and braking phases, along with a given reference speed to track.
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Maximum friction estimation and longitudinal control for a full in-wheel electric motor vehicle
Marcel Stefan Geamanu,Arben Cela,Guenael LeSolliec,Hugues Mounier,Silviu-Iulian Niculescu 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The present paper describes a longitudinal control strategy in time-varying road surface adhesion conditions, for a vehicle equipped with 4 in-wheel electric motors. The controller task is to ensure two main functions : braking (achieving an ABS-like function, i.e., no wheel skid), and traction control (TCS-like function, i.e., low wheel slip) using the electric motor torques as the unique actuators signal sources. The torque of electric motors is available almost instantaneously. In addition, information about its values can be measured, starting from the current that passes through the motor, which means that advanced control techniques can be applied directly on the transmitted torque. In order to generate the appropriate anti-skid or anti-slip torque for each wheel, firstly, an estimation of the instantaneous friction between the wheel and the road has to be made. Next, the maximum friction between the wheel and the road is computed with the help of an algorithm based on Dugoff tire model, without prior knowledge of the road conditions. Ultimately, the control strategy will compute a maximum torque that is allowed to be transmitted at each wheel in order to achieve TCS and ABS functions, along with a given reference speed to track. The only variables required in this strategy are the wheel acceleration, the instantaneous torque generated by the electric motors and the chassis acceleration.
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