The Dynamics and Control of Independent Wheel Drive Electric Vehicles

Abstract

This thesis is a preliminary investigation of the dynamics and control principles as applied to 2 Independent Wheel Drive (2IWD) vehicles. It will discuss the derivation of the dynamic models for a vehicle with independent drive wheels and variable front tire angles as well as the experimental validation of a fixed tire angle model. In addition, a controller will be developed to control the vehicles velocity, and orientation with integrated traction control. Controllers will be rated on their ability to meet performance specifications while minimizing power consumption. Finally, it will be shown how these techniques may be applied to more general cases with fluctuating ground conditions.