Development of electronic stability system for an electric hub-motor driven student race car

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Dr. Kiss Bálint
Department of Control Engineering and Information Technology

Nowadays the possibilities of using alternative energy for propulsion of vehicles is becoming increasingly important. The high fuel prices make it important and to prevent environmental contamination it is necessary to take account of developing high efficiency engines, which may help us reach large distances. I approached the solution from the electrically driven wheel hub motors. In the case of the wheel hub motors, the wheel is driven directly from the engine, so we do not have to calculate with the losses of the drive chain. With this kind of solution the motor space requirements are reduced, thus the vehicle can have greater space for greater power battery. This solution increases the reachable distance with the vehicle. With the electric wheel hub motors it is much easier to achieve the differential, since we are talking about separate driven wheels, so all the wheels can have different torque signals.

In my thesis I developed a permanent magnet synchronous motor model of an electric hub-motor driven student race car in Matlab/Simulink. Then, created a two track vehicle and a wheel model. Using the motor, the vehicle and the wheel models two car model were created: a two wheel driven and a four wheel driven car. With the mathematical model of the car it is easily possible to develop various Torque-Vectoring control techniques. In the following step, development and testing of Input-Output linearization and Fuzzy control was the goal for the two and four wheel driven car. Then I studied two system-wide controllers: ESP and ASR. Like in the case of Torque-Vectoring control, the vehicle level controllers were examined with the two mentioned control architectures. The developed control architectures are suitable for verification by using a simulation environment. The CarSim environment was used for the testing and evaluating of the created systems.


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