EPE Journal

European Power Electronics and Drives

ISSN: 0939-8368 (Print) 2376-9319 (Online) Journal homepage: http://www.tandfonline.com/loi/tepe20

Advantage of Electric Motor for Anti Skid Control

of Electric Vehicle

Shin-ichiro Sakai & Yoichi Hori

To cite this article: Shin-ichiro Sakai & Yoichi Hori (2001) Advantage of Electric
Motor for Anti Skid Control of Electric Vehicle, EPE Journal, 11:4, 26-32, DOI:
10.1080/09398368.2001.11463493

To link to this article: http://dx.doi.org/10.1080/09398368.2001.11463493

Published online: 22 Sep 2015.

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 Shin_iohi", Salai , 'l'oichi HQri

Advantage of Electric Motor for Anti Skid Control of Electric Vehicle'

Shin·ichim S3~"i( · ), ""ichi 11 "';(" )
• 'n.. !n"iM. of Sp;l« aO<l A'IrOO.u,ical Soience. 3·3· ( y""hioodai. S'K",";""". K".g""" 129·8510. bran
• • Dq''''''''''"' of EI,x1rical Engin,""';ng. The U ni'-ersi'y o[ToL)". 1-3_1 Hongo. Bun~)'o> Tokyo. I 13-I\6j(;. J, Plln.

Key..-o.-d " Elect,;,- >'Chide;, H) brid ""hid<5. AntilocL brakIng o}'st~m( AS S). Vohido dynamic>. M.. i"" co"trol

AbslnlCI

f;/a'''r ,.,,"k/u ( EVsj are Jritw, IJ)' mrl/Or. ...!rich is '''' ~xcdlem "emmar far mari"" cam",1 c()mp(/ffd '" c,"nrnmion
~ngines ar hydm"lir. ""'king ,'J,n~m<'_ O"e .....'mi,,1 "'I.-amag~ of mowr ;. il.'1~M ,md prtvu IOrqlle TI",• ./or,...5f"O"".
EV,·.jw" feed/NIck ,-""Im! e,m be applied in EVs. I" Ihis palJ<':r. ," ,,'h fa ,n f",'Ifbact com",1 II'ilh motor is "I)pli~d f"r 1111Ii
., kid co"'rol. So",~ e.rperimt'nw/ ""'''/IS slo",,· 'he unli ,,'kill ({fect of m{)for fudhack commlle r. ",/,id, allemph '0 inc,...= ,he
t'qaim/em "'hnl ;"uti,,_ 'fI,,,,,,
the iloj/rlfnce "f "cUll/fUr', re'fHJI'w delay i$ ~"(lI"",ed. rr, "/tillg 1"(1/ SUe/I feedback
("""",1 is diffie,til ..-1111 ,II'\\' "cllllllor 1iJ,.~ 1I"dr~"lic bmkin/l >y_"~m , tllae dl5cus.ions indical~ Ih~ od,'" "'"S" of """"'-'
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·,·"T.
h",.... Ih~ "CII",I brakins .1)',IIe",. in "'os' FI'5 (1nd ""h"d F.'\'5 (Ht:.vsj are 11<)1 /."ft' declric ,me.' ", 'his mom"lII.
TII",-"fo"", "'ge"',m';"e braking c","rol cO(lp<"ranllg with hydra"lic bmkins is al.«J P"'I",_,,'d and ,Jj.c".,~d. It " ,<friel'S
,h.. "mking di",,,,,,'''' hy 2U 'JI- in IIIe simalmiml'.

Introdudion broke c, li nde<_ In ,..,ul(o, 'h< ,,,,,,,,Or func!ion from d>< ,'olnman·
doJ bra~ill~ 'orque '0 !he ac,u.l ""'flli' mOl' h<: <X f"'''"..J
Rocm, ly, electric ,,,hick, lEV,) ha\'o .,"'''''." ~"'. , in,.""" as "'i'h doad ,imo of 10___\0 rn., and firs' onIer del>y ' I",om " 'itlt
a I""','fful soiutlon against en' ironTJl(nlaI :md cncrgy problenl!-.- ~n-I c. 1 nlS !'Wle colI"~m.
\\ i\h i"'pro"enlen' u( mot"" ODd OOI'cric>_ """" P"''' EV (PEV)
" 'i' h only "-, -,,,,,da,y OOI'cries "'-e , I.. >dy ""h i.,'ed enou~ per- On lhc othcr hand, regonern,h" braking i, " 'iJeI)' 'PI,l iod foo-
fomu"",, _ H)'brid EV (1110\'). li ~ c T,,)'ota Priu, . i. ~""ing up '" ,ho =""" EV,_In ,och (;V. ele""i~ .""'" <aD l:<: an ""'u""" of ABS
com' .... "'ia l 1'" " 10.,,,;, Foci c<ll EV (FC£\' ) will I""-<ihly be a "'i ,!Iou!:IIly add i tion,l compuncn'., The lime "-'>1""'''' <>f ,I>< <Ioc_
moj<>< "chide in "'" 21 " ""n,u'} _ ,rio m"'",;, qUl 'e f.".• uob., 1 " IS_

From ,he "io"pu in' "f <!c-.:.nc art<! .-on'rol ongi"""ring. E\', hOI" In the follo""i"~
p.ltl of thi. p"p<T. the in"""""" of "",b delay ,n ,ho
~i<kn ' ad,,,nt>ge, 0'-« C<)m-<nl i ~nol '"lOm,1 combustion c" ~ i",, A S S <y""m will be di ","~..ru. " ith t.-.. , . ""'''''!Of
It>.>.kl."",,",
."h id e, (ICV). One of 'h<:m i, ,ho: fa>! ord precise 'orque "" p'",-",
of oloo!ne mOl"", Otl'I"" 'OJque "f m""" """
be coo,rolled in
,h". G;,)~~-rll _,_
much 'honer control period aod m""".""", I"'-"'i", I)"
nal CO<Ilbu"i"" en,gine. 01' h)'dra"lio br.kmB .y'[<m,_ Thu, n>Ore
i. ,or_

dfC<-1i,'c an , i lo<~ br~kin8 , )">«m (ABS)OI" r.>C1i,," con'rol ')'«em

r ms + 1
'"
(TCS1_<hoold be "",il.ble In iiI'.

In Uti, p;!ptT. We oomJ>llo the d<etric motor ,,"' j!h hydraulic bro.-
~ ing. "" ." act ••,,,, <>f MIS, ....'i! h ,;mul.!i"m """'i<kIi Dg ,he Slip [lhcnomenia and :mti·skid control melhods
del.)' in 111<- octu",1I' re>pu",.. ,he ••h" . ....e <>f electric m~. fast
'orque ""1"'''''', is clarifi ed_ "'''''01 ,-doc"y f""dbad <'OOlrol i, To discu," >boo, 'ho inn~.""e "r okl, ), in ABS ' y«crn; , h<r<:
"Ppli«l for , ho;e <>mul.,ion., "bkh io examil>Od ,,'ith (lU!c_'peri_ .uth.ors me"""" .bou, ,.. ' lip phonomC"na of wbee]_ OrdiMl)'.
me"",1 E\'. II'~ . 1"" di",u; , un 00.. '" _",,!,-,""C "",h m,,1or
""n",,1 >lith h)-dr.wlic braking ')',[<m_
(AIlS ••" ... '0.-1
Hydraulic and dcdrollic braking
In ,be' con,-enliunai ICV, hyd"",lk braking 'Y"om i, ~<!1<",II )'
u",d. n.., brnL~ Iorq ... on . ""h " 'hoel 'I<p<:OO> on ,ho h)1lI3 u ~o
pre".re of \\'h«1 brak~ cylindcr, To rontrol the h)dtaulic ~<U"'.
>0111C >okllQid ,-.1,.."
an: .",d_
F-"".'h """,,,,,it! ,,,(I-e """ cll:u!tc
the CO<In«tion of h)'draulio ci ",uitl)', '0 "'<lu <>l the hydraul ic
pre"'''',
In 'no hydraulIC ABS. del. )· itl ,...., ,..,;pon,. <>f brnLing torque i,
con,itlerable , One so.",c "f'hi, del,y i. the <lead lim< of ,he "'.,_
rH>id ",(1,,_ It " ",id to be """'" 'b.n S(II'" mili-.«<uOO>. fOJ 1" 11. I: !lydra uli ~ "0<1 rCj;CnemiY< bml i"~
.. ample 10 m.< 1! I. A""'h« rea>Crl of 'no "" pun'" del.)' i. in ,ho
hl'~ ... uli< oj"'... i''}. ",'hioh ""'Tlttl< ",1e""iJ ,,.],..,. ~OO ,he "'110<1

EI'E joem.1 . Vol. I I ' n' 4 ' N~'-ember 200 1

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, :;.

.1ip ra(O<>,1,;, ~>C\l '0 C'loIu>I. ,"" ",Iip '. R>r oIt«iera(on~ "heel.
.Iip "'''0
A .. oI<foned ...
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I.", , ...1... crI ... 1>«1 ,,,100111. 1'•• ,.,. ",-he .. T. ttl .... !ht . -1>0<1
T,oJ,u ....d "' ~I """,,n! ,~Ioc;'y. '""P"<'I""l) . I
".! • ..,' ....
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Wi'" >imp!< OlIO ,,"""I modol /FiJ-l). lh< .-iooo ..... liooI, '"
"bo:c1 ..J .Iub,';' <3lI "" obuined ..

.II. 01;.. _ I;' _ F. IA)

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!'il· 3: JI - A <"tin.,
••
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•
1.0.)

II.or feil>~ ,." .hn"i. otwl ""' I,nll re>i .... ,," on ..'hee l.re
"''''' ""i1igible .II and .11, or. tho ''<hi d< w<iih,.M Lht ""'..
'" 'I ~.~
v:\/·c:·'fl '".;,.'1-"'1'\'\~..". '""';::;;:c::"""
y"-.,
I ~. ~
of ,..0.., 'n,,,"" ""1'.,0<'''''1, r. " d", r,-",.
"1v'l' i j HH ". p7:'>"
_",'.10,,, , '.' ""
'-'iui".I.", ,.. I... u( "'<·.Ie""'ngl.:ltce..... " nll 10fG'" ~.""rJ,.d hy
t"tl'''''. hydr:iul", br:Lkt 'Y\I<m or mol"". F. i. !he drivin&ihr".ddnl
f""", ""I,,'..,n the "'ht'<'1 and lh< roaol. This f", b;o.~ ..",·1"",,",
oltpcnde""'" .HI "'" ,lop
defined ..
m,,,
L 110.. ..,.,...Ii",,, "...
1;"'" p i,r""", -I······d . ······ .' j " ....
, - 1t !! I
.
p" .:.i.
N

"hen:'y i. the IIOmtII fortt "" the ..-bod ~'" 3 piau ,h .. __

'" !'il' 4: TUD< ~ 01 <h>SsJ ~ ,'OI<><~y I'". and ,,1Ke1
I~""'i.) Vo>' ..1>"'" oI<pO:b "'" """'''t'J'I of ... haIIced "Bst31
maliud lnI<\,,,,, f""'" P "•. "ip "";0.
Anl i-skid effect of ..-het'l "rlucil)" control
If ""F tOr'qOM' rlpidly 1"""'*>1 on the "IKeL 0.- tho 1". wddtnI)
01""" ""h th;on,'n~ road ...,...;li,,,,,,. ","n ..-II«I ."'d """.... Once AI .00..-" in Fig. 4. "'" .. h<tl ' -01""'1), """"" h<n ,n" ..1..., 1 >kid
,1;,,1 O«Uf>.. '''P ""~.;. rapidly i""",.<e" ,,,,,-ani
1.0, "'",'h
'!lCh fICCUf<" 'i,h r.opid brUin~ '''''''''' i"l'UI ",...r"",. "'" fet<lbac~
1"'lI< '''P """. \be <bwinll"briling forr< F. d=e.~ U ,hM'n in
~1J, ), MOl'< >eri"u, problem h 11" 1, ,bo .we
(...-ce ~'''''''.1l0lt 0It
"0,,,,,,1
at wh<tl ,-d""u), se<ms 10 "" .ITo''''''''' "'1'1''''''
10 th<
>h>rp ' ""rea", of ~' ; r Mi". Mood r,,1I"""I08 """ro! (MfC) of
,,11«:1 r.piJl7 di",l'P"atS "'j,h i.."..",, "1' 'lip roll<>. Thi. ~. ".." " ... 1I'oloci" ..~ prt>pO«d foo- lhi. aim 141. ~1&, 3 ,I><M-. the block
"nl toble ,,,h,ck: IUI<I1lI mUlion •• och "" dang<""" 'l'ln mo"Od, di.y.un of ~ifC. n.. ",n';l i"it) f",,",""" C"" ht ",koi:tl<d ..
'Thrn:f"",. ASS ".~, P'''I''N>J'M i. "'(101) "«d. \'.In"", mc-tM<l
..., bern ~ f.,. A8S In ~ l o<1 rom-.nlional.y" <'", '<Onoc
'ht 0<<<1.1111,,,,, "r "~I ",Iodl)' andk>r ohp rollO. ond "",1nJI "'"
..1Ke1 bf.ke C)'1.nd<t'< hl'dr:ioijc jl<CS<Ull:.. ~-;J . 4 i• ." "umplt '"
ADS ~"'. Thi" ...... 'OO"·.aco.-cp.oI..-,.,8S VIOl"
S(. ) ~- .
..
,'"' \0,

-'>l....t ..w)">l>. ~T>~'. brg<: drop oj ,,"""I '~Ioa'r """""'"

:II .... bcp""".. "f <001101131. .l f~ ( I - K p)Jf.
a: .
In .... follow,,,, I*' 01 (/U. popeo-. "-' fJisa& abouI lh< AaS ( .II+Mw)f
""""olio, fo.- d.",,,,, '·...
"'10. 1I""T>a-, au.- .~prnm",u..1,"<hicle
"'" • ~ ..-""nd d .<:- moooo- ..... "'" .--qudnn'
cloJppcr. *'
....""'. tlw "'" 01«,,,,, bnl... i"""""b" '" uh .... vehicle.
lbn-rfon:. ,n 'ht fol~",".~ ...."Iion>. ,,< ",;11 !.hid)' obouI 'ht .... id
pm""""" lOr OIX<:k'rlIUIlJ ,"<hide. li~ < >kid prrI"ntl/)n .. i,h TCS, '"
EPF. J<lU,n.1 ' 1'01, 11 . n- 4· Nm-emoo, 200 I
 Shin· iohim s,rn. Yoichi Hori

A, .how" ,n Fig. 5. K, and fare ' Oe f~l>ad g.>ln ..... Um<

"0.","0' uf ~IFC. 11'1< aim uf,b " « )[11 ",1 is 'u ,uppn:s< ,ho l'3jli~
i""re"-,,, oh,hrel ,'<Ioci,)"_ Note ,hal ,uK,
ron,rni of ..-h<'cl ,'d.,.
d'~' i, "'" """,;re.!, ,hu, ,,,", fin;'c gai n '" S(s) ;n "'" low f"'ll>C""Y
"'~i"" i,
. 11",,'Cd.

I" 1.. 1. •\IFC

0,.';=.
"-a' only d,"-""S..."j with I>nd . kid . ""h a, [Of
Thad"",. iI<Ioli ,ional U.po:-ri'''''''1S " '• .., o:>trit<.! "'" ;n ,h;,
P"!'C', lk>c "-'penmen" wm: carri<tJ 00' with " uor Elcclri c
.) ---.--- . . .J c
l.lh .I,-,e.
. ;;:

).-11«h·I""'. "hk h " ""' l,born'Dr)'·m:id< EV (Fig_6) _lb ..a mine

' h< cff«"l <lr M Fe 1'00- .kid ow';d"""" , ,lif'l""'Y low I' road i< requi-
ml_We PU'''''' aluminum pial<. uf 14 m knglh.", ,he 3>ph.1l,. anoJ
'I'«',d " '>10' on ""0,,, plOl«, T1>e peak I' of ,hi, , .. , road i. abo"'
,'" .1'.
o ,

0.5. 11Ii, ".1 ........," e>linu lod "">Cd.,,,

so",. ",lie, e.pcrim<"",1
"""lb .

I~~. 7 ,h<l"" ,10<: ,ione"""""""" "r ,Iil' ""i" I" ,11<.'" ",peri""",,,.
,dricl< ><""k'llIro on ,Ix" , lippcf)' 'w """'_with linc:ally ir><Tc.-
,inll '1-.;>lor 1r\rqU< , V."t,Ooul MFe.!he .li p "", io r.pidly i""rea""
~,
On ,lie ton""' )". !lie U><",3<oe of '''P ""io" rel>li\'el)' ,low " 'i' h
• • • •

/
).-IFe. Fig, S plot> ,ho wheel and en"",i, .pocd , II ''''''''" !he " hed ~-,
1'<1"",,), . ; ...", n.nh-i'y ' 0 ,he .I ip statu>, In """, h." word .. the

. !••
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I<'h<'cl "'l"il~k'" i"""ia during ,ho I<h<'cl "'icldin~ C'"""" 10 1>0

"b<al-)" with MI'C. thu. lIle "'p;d increase of ;lip ""io <'an be
,uPf"'c,<.e<l_ The .i mulotion ""ul" al"",,' ./:,"'" with tho cxperi. £

~, r
",ento! ""ulls t, indi<:ali"l ,he ,eli'bi l i'~' of . j",uIOlion, in ''''' fol -
lo"'in~ ><xU""'_
w ..... _• _ "'+(I. y~""
I nnuen~-e of aCluators respo nse delu y on the ~ V·rp",.... w
wh~d ve l,,~; t y ~... ntru l Fi~ ~: Block Di,&r.>m of MFC (a), and Srn,i'ivi'y funrtion
S(J)of MFC (bl
Wheel ,-c loc i'y feruboc~ control " -a , di-.cu,,,ru in !he I""" iou<
~~"" _ I,,, pru.>ib'< 10 do , hc """" lIling ,.'i, b bydnujie Imwn~
s\'>I<:m1 Tn "i".;""
,hi< i ~",c. ,he ;nn ..,.,:" .. f ...~u.,vr'.
<!Cia)' In wlxcl ,,<loci,), ronlrol i, <,," I<I.1'ed in ,hi.
= ,ioo.
""1'''''''
1)o:o;11V\ .,f" ~r<'1 wlodl)' <o"lmlke

The ""'p<:>nse-deb)' ~ "'" In limit "'" f""di>o< . ",,"'rolle, 80in. To

ch3n~" ' he rom",l1", ~"in depending on ,be ",,,,,,n,,, <l<I,y. horc
we di=,ly de'ign "'" S<'miu"i,)' function S{.). Thi, design pro-
""" i, ba,.,J on ,110 ,,,-o-deg=-<of.fn:<XIcm rontrollor ""'ign
'1l<'hOO [5 1. Fig. '> depi"" Ih" ..""ture of ''''o-<lo;g re<-of-ffffdom
"".. trolk. 151, Here," ;, the ""ntroller's ""'1"".'
i, ,10<: ",r.",,,"<
I'aloe. y i, ,ho ou'PU' of pi"",. d i< !be di.",.-barx:. ""d .; i.
lho ,-""""",ion noi«, In thi. """hod.
ron'roll,,, ;, d.",.mi""d
",illlthe <k>i ~n of romrmrnl input ""'I"'n>< G.,{» ..... = '; ';" i')'
fu""""" SI.). \\~'h GrI') ..... SI». the focJfor"'..-d ron'rolkr
e .(s) and f~boc ~ ",,",rolle. e,h) c on be ob\a",.d "-"

C, « )= r
G (,)
. ,'>
" , (.)5(. )

(I O)
As con.monly kMwn. ,110 ", ... i,i,';'), fuoc'ion SI.) de'mni""" !he
(1,,,",1,,,,..:,, "<)OCt;"" (l<nonmoce, In go.....-. I C"-"'. S(.) should
have low ~.in in ,he Io,,'-r""l.... ocy dom. in 'u >uppre<s Illt di".,-
~' hcre P, i. ,'''' """'inol p''''' ,,-.,de,.
11 0.. ,hi, ron",~lo,;, f", b;mce or pl,n, P"raroclCf f]u<!"",iun. One tht: ronlr.lI)'. I _ S(,).
• kid p.<"wn';on.lIl u, lIle nominal pl"n' mode l ,bould be , be model '" ""lied co"'pl.",,,",",y "",n,i' i,-ity runrtion .• hoold lit a "", •
of .,H•
.,;,'c whee l. a; ,,,,,h 1"" Iii, ••• 10 rnaI:< !he or".'"
rot.;" ror ,lie hl~h frequeocy """" -

, The _ •• <am'O' .'.. .,..._ .. ,,., "pm~~ .~, hI~ Vr A, """"

( 11 ) H . _Il00: li\' ",.m.d at "'" <no! orlloo: ,bpp<ty ' o>L_ oft<! "'. II'" on "'" 01)
...,h.oIL 'Ibn< "" Iloo: .-.-... or .... oIilf_ _ bo,""", "",.irolrn<ol ><>J """-

--~
EP£J"" mal , Vul.ll ... 4 NOI'e",,", , :!OO1
"
 Ad,W1llI~'" or Elroric ~ l o"J< f..- Anli Skid Con,roI of Ekctric \'clIid<
,-"ioo "0;'''. '" ,h< ,""'" 1ime. 5(,) '" 1 _ $(s) "'"" ",,,;,f}, "''''.
0lh~1 rondi' ioo> l5 j.

., ( 121

'Thcn::r"",. <)'" P""UTlder of """,roli« i. OIlly " ',. La!):< "', <au,..".
the !U~ h CUI-<>O- fre qLl<ocy of ><o,"i,-it)" fUn<:\ion SIs). and ,hi.
,00;"" ", "'" 'lrong d i"u,oo<>c<- re)'XlH:>n . n,1 "'",,~ ,,""',,""'.... r",
plan, ""-... Iin' <rror. I. 0Ih<'r ...<>rd" hifh "', me .., tho hip.@aio
f",dbac ~ contruller_

., ..
"'
,•
'p - I
1 ( IJ)

., •'" Kp_dJl
bo,,'<,'e r. rommand rc,JlOTI'C j, no< import"''' in till, p;ljlCf. Thu,
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• ;;
.,
p_ 20 tho ' " is alway, O.S, in ,hi. P"J"'-

Sl nlUl.1ion, "i(h dolay ill lh. ~pon..

, , , , • lllen """" ,im"I .. ,o", ... c.rriN OO L for ..\<'J "",,',,"t;oo,

In
,/k:", ,i ,,,,,)",ions, nonli",,", "orrnali«<l ,,,,,,I,,,, (OR:" I' (J) a F,IN
lim" i'i i, calculated ",j,h 'pprmima'cd equ.:uion, """ailed Magic
Fi¥. 7. ~'FC efTOCI for ,~id p' <'o" nlioo ",lI1 '" O.I[<J Formul,(6), 1'=",,.,,.,, in M'gle !'oollul.,... ",1<>;1<<1 fn,. JJ - ~
oj: Ex""rimcnl:J i "",ul,, I hI; S,m" I".", ""ult,) """'e 10 1\:0 ,,,
ilS I""ak ,"Iue 1'.,.. ., ,,_ 0. 1. AI 1.0., ,he J ri,.." Dr
""n""IIOT ".rt> to inp'" acrcio,,"ing '''''I''''.
Thi, k"'l"" =,;es
the wheel ,'.Ioc i!)' ' ",,""';Dg me <>f ,1\'.1<1. = 2 mi.',
11>< "t;>d
rondi';M i< .In><»l " <lIoo:,i,... UI,.,.. _ 0.75) "' !he beginning nf ,1Ii<
,, , C onl ro ';mo;'""". and " J,O .' . ,uJdcnly ciwlS'" i",o ,iLPI""Y mooi tion
,
11h«ISZ f.Jl,.... M OA }.

\\"lthout foOOb.d COII,m!. """"" "bcd,lid

on ~jg,lo. On the """lr.Ity. ""'.... ~"r»d i"","",,,, of
ocrnn;'"
3,O.a."m..n
.J,"
r,II", """ ""
;upp-r>""'" if high.pin "' httl ",loci,), """troll.,. i, "I'Pli«! (Fig. I I ~
,
• <
CIu."i, SP«d I'
.,
(
IIm,,-,,... ,, ,r non · ""g li ;, b l ~ responst ;Jel.~ ..,'" ,n tl>!
hi¥h K ', "",h., 500 rntlI""" mok ,he 'y>lCm "n, ubk,lkrefor-.:.
:>;'""or,

, Wilh ~ n'C (KI' ., the appropriate ~'. mu," be c~o"'n 10< co<h '~l'" of "'''''''10'. In this
P"f"" we food 001 the higl~ \,.10" nf " " rn, e""h ""''''''or a, fol-
lowing:

• W&..,I Spt't'd r." .... - ". ",1«, ~;gh "', '" fors~ weh os ~ t.><ll= :
- lhen cany ""t ,he ,<imol";"n,."d ifi( 1.< nUl " able &=_ ",
, o.."j, SJ>CCd \ '
»~<li + II a O , 9>o~) i),
- li ",iI), ,he ,,,nub,;,", ""n.""
he ,!ObI<. Il><: " ~', '~ ,ha, ,; " '"-

, ,,
I,tion , I>oo ld be !he h'obe .. One fDr that 'll'< of ><'"utOl.

• , , , , I" the fo1 lo,,';"~ "muIJlion •. exh w, is S<I to be ,"" lulf ,. Iue of
" ilS "hiS~" <:al".,

Fig. 8. \\'bcd and ~ h."j, ,-.:lo<ity ..i, h and ,"'i,lJou, MFC Fig. 12 ,bo".-, 'ho ,;m"l"t ;,~, ",,,, II , ",'i(~ 'moo_ 00:;("",,' 1'> (",m
Type 1 to Type-V. [load ,ime and Jcla)' lime"ro DO! DCgligibk.
lherd=. high c",..,ff f""luclI<~ ~, """W no! bt ",I",,'ed. Th<
1, m;12IiOll of ,,', oome> (0 be ,00<e """. "hen the llel.} be.:0l11eS
to bt 1",£"" With ><>l'h low ~', ,he J i,,"rban.,e or pi"", !l"",U""""
, " Pis) """ no< be fully "'jeoted. I" the>i< ,1mul""",,'. ,11< "'hee l "cI""ity
• i< ,1T,"<ted by: (I) ~mp "r tr""';Q" fon;~ f-J , 'J: .. ~;>I"rt>a,,,-.... (2)
and !hc pi,n, nl/C!u",ion , 1'01< ,hat on« ' ~id ocrur<. ,he pi ..,
ch""!.,,-,, from ""minal model I/(M. M. ) ~) IIM~. The",fore. the

• "'heel "elo< il)' i, d;,,,,,l>ed " 'l!<-n ,be road c"",,dilion t hJn8<' at
3.0 >, " ~,. in Fig. 12.

With the... ,;o,,, I.(;on,, ,",'e CM r-o;nt 00' ,10., w, .oould be "''''':
Ih,m 5 radl''''''-IO '"!'P"O" !hc ' harr ;.... m!S<: of ' lip mlio. To a pply

lOPE lou"",) . V,,1. I I . n'l N,,,'cmber 2{J0 1

 Stun-kIIi'" Sak",. Yokhi Hori

~
,• •
~

>
"

".
•
,
z '.
,

.
, ,.
.3:

,g-
" n,
0.'

I
'. • , • • ,
Tim_hi
Fig. JO Simula,ioo re>ul lS "i ,I><'I,' rol11",1
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..",
,.•
'~• "o.,
" , ,
Rg. ! I: Simubtion ",suit> with hif.h.gain

,,,,,t. bi~ h M,. okad ,i"", , hoold "" Ie>.< tho" S- IO ,~S , to i. "", '" txpcctalion for thc Idiabi ~'y of nl«hanic31" '''c'''". Thu, if """"'"
'''''Y for hydr:oulie br:>1;e 'y<1<m. lbcrd=. i, ;c;:m, 'ha,
'he 'Wid ,.", ,,,t.tnPl I<>awJy tho anti·,kid ,n<thod "'ilb molQ<c--ontroi. cO<JpO'
mtioo (}f inlerr"""",. be,,,'''n .. r.di,..,
ge .... >lid hJdnwlie bnWng
" han~< of ",1\",,1 ,,, Ind'y can"'" "" ""PP"""'" w ith f<ctJba:k
""",roI ;n con'"nl;"".l ABS . ., .1Io"'n in Fi~ , 4. The '~""r m<1h.x\ mU>l be rom idcmi Hen: "" """,. """ .. ide. '0 00 ,""" ,,",,roI.
i, -'On.., conlrol algori lhm like fcedforward oonlrol. """.• , ...... I~i,
m,uin:> 0 li" l0 .ime f",. ro;od condition " ,limat;""_Thu< "'" r,:-;t R<g< n.""i,. " .. k ln~ .... 'l rotl • • de<ign
drop of ",1>..-.:1 ,<iocily '",",M>< be pro","""" ,
The C<",lrollcr Je;;gn', <t"'tegy is quile ,im iiar to MR: . dos<ribcd
On lilt cunlr.,<). ,he dO<><! tin'" of olectric mol", ean e .. ily be 1m 01>0>'<. One of the problom, of hydr:tulic ABS i< ,he okloy in the
than 1m •. Accordi,* ly. Ille ,ul-<>ff freq""OICY of .. n<itr.·ity fUT'" , kid de"",-, i",, or "" Iu"tor =po<t>c- Thus he", " 'e oim to rom!"'n·
I""" or the f<edb>e k ~,in can be b igh cnouf h, Thi," Ihe rriroc ipal sole ' he ,,' h«I', short· tim< dyn:tmri ,,;Illin ><Job oktal" time ,
,••h""t:l£. "f <1«lnc mol",. in AHS or TCS ,)-,;to_
Fi¥. 13 l-OO,.-s the block "ia ~J"MI <>f proro"'<1 ."""oU.r. W•• pply
some minor f.""ruck 1",,1' wi,h ",",,0<. Thi , f<e<lback c-ontrolle r
Regcneral;,'C braking control for sliid pre'entiol can be ok, tribed ,,·ith I', h) and (]»(.). 'lICk a,.
ruopcrHlin g wi lh hydr-dulic ABS
With motor .... "'f<oc"'ti,'c br"'in~. fas, f.. d"""~ cootrol .,n be ( H)
"!'Plied as mentionro abovc. Sucb coo trollo, c.n <h.'"~ tlle <1),_
mi<;, ()( "hoel- for c,,"nplo. c h. n~c the ",hed', equi,':lIc nt inerti,
to be quito be",'Y'

In ,hi> """ ion. ..g • ...,.,t;-" Ir.o~ing "",,<rot coopcr.t'ing ~;Ill

hphulie ,\BS is intrudo=.!. Tn nW» £V, (}f HEV .. t't\!c""",'"-,,
bral;ing i. g • ...,.,l ly used ", jill hydraulicbrill"" 'y".m. l'\!n: e\<c-
tri<: bral:in£ i. no< "I'I'tictJ., , hi , """",nt. 11lc rc:tSOO is the m:l>.i·
rn.Im t""lllC limitatirn of motOr. banorles' SOC (";ol. of ch"'!;"). or

EPE ,,,,,,,,,,I · Vol . II ..... 4· N",,,mbcr 1001

 " .""", F_ """ F~"< " ttl< n:f<"ncr,W,·< :u>d hr.l,,,"I;"" br.~in~
kIrqU<. ~';'d) . W,th f«<hod rnodn)Ilt< <>f (I ~ )"'" r _ 0.1 ..
,.,. tru>r.... ru,.m"" 11(" from F"". ' " Fo...: = lie <Ioansal ..
Fqt. I ~. fir. IS pI .., II(.)/'(.~ .... lOcb i , "'" tr.Ja>f....
F AilS 10 1'. n...c boo!< diq=n. are cakullual " ~h ";aop!<
" 'hod II1<I<Id ....
tv.""""" from
- .......... - '-
~"..- -:

:.:..-"';"'-f.=,n-'Trtr~d.-•.>':::~=:-I I ",
_.-!-..'

n.. "'m"in",~ problem <>f "'" ,,,,,,n::>ller i. 'he: "cady-""" Ba i"

fu :.Jhc,,,.. ",100<:1. H(O)... .
!o_ '85~~
:J-:
_=~~...............................
( 17)
Downloaded by [University of Western Ontario] at 18:24 16 March 2016

""',n' ,....
~ .. A'b<>i'~II__~
Eq. 0 7) ,he: , .. n>.mi,';"" oJ hydra"'", bnl.''lI 10lqU<
;,. bIocLM "','" """"'1<lIq\Ir_ To p""-enl ,hio bIox~ i.,.,.,. 1<\..... roo-
f.,....""", ronu"'''' (',~ "<bt,,,,,,, "'.
oIS)
;, r-=;;r=~-:r--'-~
1..
;;; ':.. '0' .. '
·· ~ I .....- I
r"dIJ,IdI - 11__ ,

It' 10'
_

..-

Simu la tiun """ I .. I .rrhot

ti ,;;:;;;;,;;;;;;;::====;::====
" A.u...i•., II 1>«1 /'

~ ':, _---------------~-<",
S'n'"I>li~n' .... C",riO<! "," ,,, ",",fi n" ,lie Orr,,-,,,,,,,",,, of prop<>-
'Cd ounm,lkr. T Ile$< ,imulatiOn< "'" ",ith """ ,,''''-,,1 ,chi<;k ~ -I'" r"cS~lddln~\\,h ..1 1
"",""I Ih ;. 21 """ """Ii"",,, ~t.g io Formtlla ,i,.. _ I . 1'Jb. 2
• ...,.. > IIIe "''''.".., ...... AilS """,rol l.. is fOO<Jclc:d .imply ~, h.1ng.
b>.ng """,mile ..... j.h I",.., oclloy in T.b. 2. ~ - ':..,'-----C,'~----.=-------:.,...----,.:r----~.,
r.-.-oIQ 1"-1
~' ... 16 ".,..., ,110 Mmul .. ,... """,lis " 'AA adl!esol'< load condo"""
'Jt,.,.I. - 1.01. " " moo",
_in,
'C'1I<T."" "'" ~ ~Dli",
'orquo. "lOeb i, InpIirnI by uPI'"" I.)·.... ron,roIkt. (....
•Ic:1"''''IIi< to """,miu "'" onergy effICiency. The: ~l ronuuJ·
w..-. bI<>o~ at inl<'licn: "·'th "'" h)'dnuJI< bntln. 1OrqUt.
lICIt .,
_ ' •• _._ SlriMilor "'~m
11,.17 " - . "'" .....m. WI 'th .JiJ1!'<'Y load ~ IP,w, _lUI-
The: left C'Ol~"", ' ' -'s die .......11> "'ilb only h}<hWic AUS. ~ ~ '''l=--
-':'::::'''~.''. '':r.:~~=
111< nPl "'.... ,,\11.-, Ih< =-ull> with hyd"""", AilS on<l pro- ,_~ ". o.llhC.;J;-- ~. ___ _,
p;N<I cooln>llco-. J"~ 17 sh<wo.-. ,I\.u !he: .Iip ....iu I"";II",i"" can
he: "'1'1"'''><'<1 ,"';Ih ""~ fC"&<ocr"i,'< brdc <"",n::>llo •. "Tho " '/ " C<nn~ "/o~
bralt in, (<>Ott II <nl2r):aI by !hi. droo,. I~f,,",. ,lie """'n~ di.· I,.A_ri ... W....1
1~
" .". "'"', ....
~
l-OI>Cc can lie ",""--...I by :!O ~. It' It' .. ' .. I
F...... 'oq l _ J

Fi¥, I~; Bodo d i' [!ffin) of lI{s)/,(.1

Cuncinsiull
In lhi. ""p<!'. ,he: o~< """"" ,,"'-, <ompared ,,"h h)"clraul;< bm- ru.d ... i!h tho chan~ of ch."". ''''I'''' ,'~ , E.>.I"'"""' .... I "","It> to
"'''' .)·... m. • ' on ""' '''''''' ,,( ASS. E>.p<rimono..l .." ul" ''-'od
,hallhc ,"100<:1 wi"",,)" """lrol. weh :0.. MFC... offOOlj,.., '" chan·
H, . 7 "'"" i, ""''''/y.
The:rdun: • .uch.....,hod """'It) he: c<>ni>i·
nod o.'AA _hc:-r m<thod li ke: """,.. n,ion.1 ABS l>r >bJ dt10rtinn
~ "'" " ..... 1 dyrgmic> and .~ II.. rapid ,"'100<:1 "'Id. m.otb<J,J ..-ithout d ... "i.
"doci'yl7J- M......,....... In ""'" Ph l>r
S,"'U"", ... ",><II" P"''''''' DUI thai ""'" fcalba<k "'*">I m,u",", HEV .. rq<:"""'''-~ tnl.Jn, i. It<t:d " 'jm h}<lnul'" bn\ InS . Tbu<
fa.! """"" ""f""''<. If !he: ....... lOr i• .Jooo ,.. h)d<3uh< blUlOl. "'" <OO(IO ... i... >houkl he: "",,>Idc:tod for proo:ticaJ w>C'. With "'"'"
!hm 111< f....J"""~ pin roulot DOl be 1qh """"P '" P"-""'''' "'" or
h>ol..pluDtJ.. ;" chc ~ patI 1hi> l'lP". """"","""" br->l.>"i
r.>pod c"""F. <>f " .... 1 wi"",},. Thc:roforc. ""'"' rir«I"", AUS "",,,roI mrlhod ~"'~ 1I)' thu]", AilS ..... propo«d. This
.. III he: ..... bhlc- • ......,ILOUr.

""""I, .. """,},
"hocl «Io..,,}'
. _co"',. Ih<", rcorWn,
l> ~I«l.
_r
n....: .,t-,.:"I ,.. k"",)' co,,,roIlc:1 OlD pK'I"'Rllhc - . . dan~
p;obk"I. b",n Ih<
of
>l,p ,..;., "ill ;oma", ... ,II< l-lil"f\.'I)'
.....,hod <hanfe'S 111< dy.....,ic> "f " 'hod '" ,m n"_ loop
rq<""""i,,,,
ond ~K:aI ~ of ""utiliutiM of """""" """"'" l<Xftniqt>o
for EV.-. hpcnm<1\tal <tuoliro< "f 'hi' n..·'Iw.>d "ill he: c>med oul
of
brU:inJ!. """",. and I:OU1d ........., "'" bnoI.i<tc eli ..........
to) 20 'l in .... "m.bI ....... Thi, 1""1""".,,( .... hod ' -'U lyp'cal
"'*""

ErE )oumal · Vol. 1 I 0· 4 - :-Im'ember 200 1

 Shin-i,him S<tl:ai. Yokhi iton

with 0." r>eW EV. "uar

EIoc!ric ),J""h Ir'
lnformalioo .b<tu,
thi, EV is .."il>ble :II:
""'-"·,hcoiL"-'ol'Y".""jI"'J'll7/~=h..

Ref~n:"cc

I I ) Th . T. 0IIta. N. K " ~, H. or.J 0Itb;0. ~ t ,

,,,,,,,,,,,,,,,.<>nl ,>kul
,pt<m u ,.; "~ n>U<l<m
",",,,,I 'I>co<y. In Prw.!J;£E IECO..."1!5. 1'1'
J'lG-J'J5. San r"ndsro, USA. 19R.'i.
121 K.nb<. T. S.luw'll. M . ",",u. I, ...J
\\i~. y~ A .wi", """" """"'"'" for
• • , • • whm.tip """",,,,,.roI'Y""" In Pm". iI" R '
-,. ~ ,. wIG ~ 0lOI" CooL ~.I'I' m ·I!(».AxOO1.Gmnany. I!i96.

..
!lI I"""". Y. T ...... . N. Imaod.L M. 11"......1><. T.
• ., )~i'h Mot'"" c..o,. . nd M"",, '. S" lligh..,tr,,",""l' _ P""""
~ re oootroI. I. A SS, I" AVF.C 'II!. 1'1'. 6!~ -­
MO. N ,~y.. l "fU'l' ! 9'1 ~ .
• , TIme l,' • •
" 14 ) 11"-;. Y. To)OOa . Y. and T""""",- Yo, T _
Downloaded by [University of Western Ontario] at 18:24 16 March 2016

''''''ml of el«1fi.< " hi<l<: 1b>",~,p<rim<....1

",,,, its u. i n~ Ihc I<>t IW UOT <1«,'-;': omnh.
Fig. ]6: 5imu"" i.,. <c!•.,I <> "ith adhe.<iW ",ad
If:fJ; TrlIb. In<l. Awli<at .• Vol , 301. No. 5. W.
II J I-II~ , 19911.

M,,'oe I ~ I fujim<"" Y and Ko"......... iI. Rutu.I " "'0-

' )'". m ooONl on ...·"'d<g<et .."f_f _
" """,I ~' ith , Ihlillf nnl<. IEll T..... , In.!.
APrI" ... . VoL 4!o No. J. PI'. n UilO. 11I'I'i.
16J I'=Ju. H, B. ...J II,U ~ <>. F_: TIl< M"l'"
lVnt ..... l~·'"""""I. 10 Proc. I" 10",,,,,,,,,,,,,,1
<:<>I ' ''I"i, "' on T)'re M _ i> for ~'<hicl<
D)lIOmics Anol)"" DrIft. S ...... lan.1<. 1\1\1 1,
[1J Sotai , 5 . S.d", 11 • • n.! Ii,"';, Y.: N "'~I .!. id
"uid= _hod for cl«tric ,-.hiclo _"I>
ind< p<nJ<"' I ~ OOft ' n~1«! 4 i" ·~ oc.:l """"".
111 Pro<. Tho: 1m 1 ~r, E Inl<"",,,,,,,,1
S)'Olf"'''" Oll 011 Ind<nlf'ial Elrnmme.. 1'1'.
9301-9J9. "!<d. SIm'"",,- I'I'J'J.

The AUlhor.i
5hi._ " b,ro S. u;: He
=<i,.>d me liS .. M.S. .oo
1'11.D. .q<=o in de" ,",,"
<O~'"''''''"f fwm Ih.
Uni,..,.,,"y of Tokyo. in
! </\IS. 1\197..,.l 2(100, ""'-
p«t'''I ~. I" YO) "" ~ ....
., RJ ., lS I'S I!;e ••",,,,h
F<!k>n' in ,t-.: Un;,.,.i!)" of
Toky... """ i" ~OO! I>< joj.
l'i2. 17: Si mulalion ~I b wi.h . li WCI)" road. IF...- K _ I ~~" ned Th< In,""',' of Spa<e

:::==:::::========::::::'::::::::====::;--;::~::~~ . . . re><>lth ... _i>« . I ii,

rooorol Ihrory .00 it> i...Jmtri.J awl"",""". ond
,."".,,,h 1i<1<l> "'"
A'IJ<"""''''.aI S<"","
~·pK.uY. _ ion , - ...1
in <1«'1"< ,'""",Ie, . ronroI of .... \lit< In op:>«. rn«Iut"",,,,,- <tc

Y"",hi fl ori: lie ,.....,i,'od l ~ Ph.D, d<fr<<> '"

el«.nc. 1 '"f'<>«tini from lhe Um"cr;i')' .. r
ToL)" in I~ l Ho joi".,j to< Dr",. uf ~;I« . r"'g
.. til< Uo.... of ToL)u ... ,....."""b ..""' .... io
! ~ 8 .1. S ,O« XO'J.1I< I=b<fto. prof• ....-. fli •
..,.,""'" flt'!<h or, coolrol 'I>co<y ...J it> inoh<-
o-iol . PrI""'iu", i" l""it"I>,. _,... ,-omroI .
..-..<h>ttuttibt. """"ie>. fIO"'<1" , I<dro!1i<, ....... or
.~" """ , <to.

EPE Journal · ' '<>1. II · ... 4 · Nm'~ml:>o r :!OOl