نوع مقاله : مقاله پژوهشی
نویسندگان
1 دانشکده مهندسی مکانیک/دانشگاه یزد/یزد/ایران
2 دانشگاه یزد، یزد، ایران
چکیده
کلیدواژهها
موضوعات
عنوان مقاله [English]
نویسندگان [English]
Two of the main challenges of electric vehicles are ensuring stability and preventing wheel slippage. In the electric vehicle in this article, each wheel has an independent electric motor, and this conventional vehicle is at a lower level than the autonomous and self-driving types. The body of this car has three degrees of freedom, and the wheel has three too, which is suitable for moving on a flat road surface. The governing differential equations are obtained using the Newton-Euler method. After mathematical modeling and determining the nonlinear state space for the vehicle and wheel, the equations are verified by comparison with the CarSim software. Furthermore, both the control or ensuring of vehicle stability and the control of traction or avoiding slippage are carried out with the help of an integrated predictive model controller, in which there is no interference or failure to the controller. In similar articles, separate controllers have been used, or they have been implemented in a hierarchical and cascaded manner, which will be subject to interference and disruption. In addition, in this controller, a cost function is considered to minimize the desired indicators and optimize them to satisfy the constraints of the problem. Simulation results show that this controller has been successful in both stability control and traction control based on the European automotive standard, and the results obtained are reliable.
کلیدواژهها [English]
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