| The development of Electrical Vehicle (EV) is becoming an important trend for automobile industry. The key research areas of EV include control and management system of vehicle, driving systems, battery and its management system. Anti-lock Braking System (ABS) and Acceleration Slip Regulation (ASR) belong to the field of driving systems and they play a significant role in improving the stability and security of EV. The controller design of EV with four in-wheel motors, braking method of EV and control strategies of ABS/ASR are mainly discussed in this paper.Firstly, the paper provides an overview of the latest research results of EV home and abroad. Then, the paper analyzes the composing of in-wheel motor in detail. A model of tyre and the research work on Permanent Magnet Brushless DC Motor (PMBLDCM) are also presented in the paper.Secondly, this paper presents the design and analysis of controller for EV with four in-wheel motors. Centro Processing Unit (CPU) of the controller consists of microcontroller PIC18F6621 and Complex Programmable Logic Device (CPLD) EPM7064SLC44-10. The CPU maximizes the capacities of A/D conversion speed, logic and numerical computation. Discussions on driver and power conversion circuits are also presented.Thirdly, the paper presents research work on EV speed control strategy, which involves in-wheel motor PWM modulation, EV open-loop control and close-loop speed control. The dual polar driving method for permanent magnet brushless DC in-wheel motor is emphasized. This proposed method could make the maneuverability and response of EV better. Analysis is made on braking energy recovery, braking force, efficiency of ABS/ASR systems on EV. A novel control strategy for ABS/ASR system on EV with four in-wheel motors is proposed and implemented on a prototype vehicle.Lastly, simulation and field tests results on prototype vehicle demonstrate the validity of controller design method, braking method and ABS/ASR control strategies of EV. |
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