Control of Independent Rear Wheel Drives for Electric and Hybrid Vehicles Using One Neuro-Fuzzy Controller 2003-01-0107

In this paper, motion control of an electric vehicle or hybrid vehicle, which is equipped with two motor drives, is investigated. Vehicles cornering stability and safe traveling in slippery road surfaces, and curved paths are also discussed. Due to non-linearity of the vehicle model and its parameter variations, an intelligent adaptive neuro-fuzzy controller using emotional learning is presented and used to follow the reference yaw rate. The designed controller calculates the reference torques needed for the motor drives. In this control method, mechanical differential is eliminated while its operation can be controlled electronically. Because of non-model based designing, non-linear tires and system parameter uncertainties, does not influence on the operational quality of the vehicle. A nonlinear model is used for modeling of the tires. Finally controller's abilities in several standard maneuvers and also parameters variations rejection will be investigated through the simulation results.