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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.

The Iran Khodro's RD 1600 (a rear wheel drive, medium-sized saloon car equipped with a two-piece, parallel-crossed driveline) suffered from a harsh driveline vibration in 2nd and 3rd gears during acceleration. The vibration occurred between the speeds of 20 and 30 km/h with a maximum vibration occurring at 25 km/h. Various modifications in the driveline geometry, including raising the prop shaft center bearing and adjusting the phase angle of the yokes, were performed to achieve an acceptably low disturbance level. Graphical and mathematical procedures were applied to the driveline for secondary couple effects and torsional vibration. An objective test was performed in different operating conditions to measure the sensitivity of the vehicle to driveline modifications. Finally, tests were conducted to assess the level of vibration and interior noise under normal road conditions.

This paper presents a new method for finding slip control law of Anti-lock Braking System (ABS), based on sliding mode control method . A four wheel car model with seven degrees of freedom is considered. Slip of each wheel is controlled separately so that it remains in the desired range for every kind of road condition, and by tuning desired slip undesired yaw on miu-split surfaces is prevented.

This paper presents the results of a recent project of IKCo’s research center to modify the Paykan 1600’s rear suspension mechanism with the purpose of improving the car’s comfort, stability and handling qualities. The car was originally equipped with a solid rear axle with leaf springs. By replacing the original mechanism with a three-link mechanism with panhard bar and coil springs, the ride comfort and handling characteristics of the car were noticeably improved.3-D, nonlinear ride and handling models were developed and analyzed to determine the important kinematics and dynamic effects of the new mechanism on vehicle responses. To verify the analytical results, subjective tests were carried out on the vehicle. The results of these tests demonstrated remarkable improvement of the dynamics behavior of the car.