Motor Control Algorithm for a 6-Wheel Independent Drive Electric Vehicle

Abstract

A motor control algorithm is proposed for a 6 wheel independent motor drive electric vehicle. An adaptive PD control is used to generate the direct yaw moment to compensate the yaw rate error. To calculate the yaw rate error, an imaginary steering angle is introduced with yaw rate gain. In order to evaluate the control algorithm, a ADAMS vehicle model is developed and ADAMS and MATLAB co-simulation is performed using the motor control algorithm. It is found that the vehicle performance can be improved by the independent motor control