The method of efficient individual control of electric traction motors of an electric portal axle during cornering

BACKGROUND: In recent years, the global automotive industry has shown increased interest in electric traction drive for road vehicles, including electric cars, electric buses and electric trucks, where various drive layouts are used. One of the most widespread drive layouts is an individual electric traction drive, which is often used in modern electric buses. The individual electric traction drive has such advantages as reliability in sustaining traction or braking forces in case of failure of one of the engines, compact placement of engines, low floor level along the entire length of the cabin and adaptation of the electric traction drive to road conditions. The last point of the mentioned advantages requires the development of an advanced control system.

AIMS: Development of the yaw recognition algorithm and formation of the algorithm for designing a torque redistribution regulator.

METHODS: Modeling of the operation of the yaw recognition algorithm is carried out during simulation tests in the MATLAB/Simulink software package. The main dependencies are derived, followed by obtaining a phase variable, for the correct operation of the optimal controller.

RESULTS: The yaw recognition algorithm, which forms the torque redistribution between the driving wheels, is developed, an algorithm for designing an optimal regulator was developed, such concepts as theoretical and actual motion parameters are introduced. Simulation modeling of the spatial movement of an electric bus is carried out in the MATLAB/Simulink software package, showing the operability and efficiency of the developed system. The scientific novelty is the formation of the optimal regulator, making torque redistribution possible.

CONCLUSIONS: The practical value of the development and research lies in the possibility of applying the algorithm and the control law for vehicles equipped with the individual electric traction drive.