Skid steering in 4-wheel-drive electric vehicle

Gao Shuang, Chow Norbert Cheung, Ka Wai Eric Cheng, Dong Lei, Liao Xiaozhong

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

19 Citations (Scopus)

Abstract

This paper discusses skid steering applied to four wheel drive electric vehicles. In such vehicles, steering is achieved by differentially varying the speeds of the lines of wheels on different sides of the vehicle in order to induce yaw. Skid steer wheeled vehicles require elaborate tire model, so I choose the unite semi-empirical tire model. From this model, longitudinal and lateral tire force can be calculated by slip ratio directly. The vehicle model has 3-DOF, longitudinal, lateral and yaw direction, irrespective of suspension. Induction motor is chosen as the driven motor, and the control method is rotor flux field oriented vector control. To satisfy the requirement of the turn radius, the longitudinal slip must be controlled, so a method of slip limitation feedback is used in the simulation. When the vehicle is turning on a slippery surface, because of the drop at the coefficient of road adhesion, the drive wheels may slip. The traction control system reduces the engine torque and brings the slipping wheels into the desirable skid range. Some simulation results about the steering accuracy and maneuverability are given in the paper.
Original languageEnglish
Title of host publication7th International Conference on Power Electronics and Drive Systems, PEDS 2007
Pages1548-1553
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2007
Event7th International Conference on Power Electronics and Drive Systems, PEDS 2007 - Bangkok, Thailand
Duration: 27 Nov 200730 Nov 2007

Conference

Conference7th International Conference on Power Electronics and Drive Systems, PEDS 2007
CountryThailand
CityBangkok
Period27/11/0730/11/07

Keywords

  • Electric vehicle
  • Induction motor
  • Skid steer
  • Vector control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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