抄録
This paper presents driving stability control system design for a micro electric vehicle with four in-wheel motors, and shows requirement analysis in terms of driving stability and energy efficiency utilizing sequence diagrams based on the operational scenario to refine the requirement of driving stability control under low rolling resistance on the road. Based on the model provided by the benchmark problem No.3 of The Society of Automotive Engineers of Japan and The Society of Instrument and Control Engineers, we perform system identification to design a driving stability control system using independent motor torque for the four wheels. Frequency responses and modal analysis for the identified model are done and the H_∞ controller is designed to meet the demands on driving stability and energy efficiency.
