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Performance Improvement of Vehicle under Disturbances by using of Wheel in Motor Control System
June-Young Ahn(안준영),Tae-Young Ji(지태영),Hong-Youn Kim(김홍윤),Yeo-Un Kyeong(여운경),Hoon Heo(허훈) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Sometimes conventional vehicle that is under operation using one axis driving wheel system has a significant practical problem. Those vehicles exposed to independent multi disturbances may encounter to undesirable situation, which is that the vehicle is not driven as it is wished. In such a situation very often it may be out of control. In order to overcome those problems, vehicle with wheel in motor system is modeled. System modeling is achieved using two-independent wheel in motors. The motion of the vehicle is simulated in terms of two-separate control input for two-wheel in motor units. In order to improve the vehicle performance in such environments as the ground conditions are varying in arbitrary manner or often slip, the two control inputs are designed and implemented to the vehicle in accordance to external disturbances.