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Tham khảo tài liệu 'motion control 2009 part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 132 Motion Control Because the vehicle mass varies significantly in a real driving environment In order to evaluate the robustness to variation in vehicle mass some comparative experiments were performed with different nominal mass in the proposed controller while keeping the real vehicle mass fixed at 360 kg. Fig. 10 provides these comparative results in which the nominal mass varied from 180 kg to 360 kg. Fig. 11 describes the results of the experiment with driving resistance. In these experiments the driving resistance was simulated at 230 N corresponding to the air resistance of a BMW 8-series running at a speed of 86 km h. Wheel Velocity vs. Chassis Velocity 2.5 2.6 2.7 2.8 2.9 3 3.1 3.2 3.3 3.4 3.5 120 100 80 60 40 20 0 -20 Torque Reference vs. Torque Output ----Reference ----Mn 360 .Mn 300 ----Mn 240 Mn 180 2.5 2.6 2.7 2.8 2.9 3 3.1 3.2 3.3 3.4 3.5 Time s Fig. 10. Comparison of experimental results with variation in vehicle mass 3.2 Simulation Due to the limitation of experimental equipment and facilities the existing experimental results could not provide a comprehensive comparative demonstration to sufficiently reflect the features and essence of the proposed control topology. Therefore numerical simulations were performed to provide more detailed comparisons and analysis in which parameters could be set more precisely providing finer insight into the controller behaviour than is possible through experiments alone. The following analysis and discussion will based on the experimental results as well as on the simulation results. Simulation systems were synthesized based on the algorithm in Fig. 4 and the vehicle model in Fig. 2. Here it is must pointed that in the vehicle model a LPF with a time constant of 1 ms is placed after the friction coefficient to simulate the dynamics of the tire. The time constant is linearly related to the softness of the tire. A Novel Traction Control for Electric Vehicle without Chassis Velocity 133 15 12.5 10 7.5 5 2.5 0 Wheel
