Electric Vehicle With Power Assisting Using Two In-wheel Motors

In this research, an electric vehicle actuated by two in-wheel motors is developed. By properly coordinating the traction generated by two motors, both driven-by-wire and electric power assisting can be achieved. In this experimental vehicle, the steering column remains and works as an integral part of electric steering system. With this function, the electrical steering system can not only steer the vehicle by only electrical command, but also works as a power assisting system to amplify the driver's steering torque. Using a reference steering system model, the controller could modify driver's steering feeling by controlling two motors. In order to control the motor torque rapidly between forward and backward, the motor current controller is designed to smoothly switch operation mode in battery powering or motor regenerative braking. There is also a traction controller to distribute two motor torques for maintaining the assisting torque feeling while motor is saturated in high speed. The control system obtained is then implemented on the prototype vehicle and the performance associated with driving and steering is experimentally validated. Copyright Form of EVS25.