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1、ProceedingsoftheThTA18.647thIEEEConferenceonDecisionandControlCancun,Mexico,Dec.9-11,2008DesignofElectricDifferentialSystemforanElectricVehiclewithDualWheelMotorsYee-PienYang,Member,IEEE,Xian-YeeXingadhesionwasincreasinglyenhanced.OnthebasisofanAbstract—Thispaperpropo
2、sesanelectricdifferentialsystem(EDS)foranelectricvehicle(EV)drivendirectlyoptimalslipratiocontroller(SRC),Sadoetal.[6]designedanbydualmotorsintherearwheels.ThissystemconsistsofEDStoimprovevehiclestabilitybymaintainingtheslipratiotwofoldcontrolloops:theouterloopmodulat
3、estheyawwithinanideallyspecifiedregion.Thisschemewasexquisite,motionofthevehicle,andtheinnerloopimprovesthealthoughitrequiredtheinformationofvehiclespeedtorobustnessagainstsystemuncertaintiesandroadestimatetheslipratio.conditions.Inexperiments,theinnercontrolloopisAlt
4、houghthevehiclespeedcouldbeobtainedbymeasuring®®theaccelerationofthechassis,orapproximatelyderivedfromconstructedbyusingMATLAB/Simulinksoftwareperformedonalaptop,whiletheoutercontrolloopistherotationalspeedofwheels,theseapproximationswererealizedwithanEPF10KEFieldProg
5、rammableGateerroneousincertainsituations,suchasbrakingorcorneringArray(FPGA)inthefixed-pointarithmeticformat.The[7].Fujiietal.[8]offeredaslipratioobserver(SRO)toeffectivenessoftheproposedEDSissuccessfullycompleteanEDScontainingaSRCwithoutdetectingthedemonstratedbyastr
6、aight-linetestwithacommercialvehiclespeed.However,theSROreliedonalinearmodel,vehicle,whichisreconstructedtobedrivendirectlybyanddidnotfunctionwellinthenon-linearregion.Fujimotoettworearwheelmotors.al.[9]presentedanovelEDScontainingdoubledisturbanceobservers(DOB)accomp
7、aniedwithadead-timegeneratortoI.INTRODUCTIONenhancedrivingsafety.Meanwhile,manystrategieshaveINrecentyears,environmentalprotectionconcernsandrequiredexpensivesensorstodetectsideslipanglefortheenergyconservationissuesaresocriticalthatmanyEDStoconstructtheirclosed-loops
8、tructure[10,11].Inotherresearchersandmajormanufacturershaveputforthgreatcases,someresearchersmayhaveimproperlycomplicatedthe
