Citation

Ma C, Xu M, Wang H. Veh. Syst. Dyn. 2011; 49(3): 433-447.

Copyright

(Copyright © 2011, Informa - Taylor and Francis Group)

DOI

10.1080/00423110903545172

PMID

unavailable

Abstract

Current research on electric vehicles (EVs) is focusing on the environment and energy aspects. However, electric motors also have much better control performance than conventional internal combustion engines. EVs could not only be 'cleaner' and 'more energy efficient', but also become 'safer' with 'better driving performance'. In this paper, a discrete elasto-plastic friction model is proposed for a dynamic emulation of road/tyre friction in order to validate the control design of EV control systems in laboratory facilities. Experimental results show the dynamic emulation is able to capture the transient behaviour of the road/tyre friction force during braking and acceleration, therefore enabling a more reliable validation of various EV control methods. And the computation of inverse dynamics, which usually needs to be considered in conventional emulation approaches, can be avoided using the proposed dynamic friction model.