J. Deur, M. Kostelac, Z. Herold, V. Ivanović, D. Pavković, M. Troulis, D. Hrovat

An Experimental Electrical Vehicle with In-wheel Motor

CD Proc. of 13th Int. Conference on Electrical Drives and Power Electronics (EDPE 2005), Dubrovnik, Croatia, 2005.
An experimental electrical vehicle has been developed recently, in order to provide a basis for experimental verifications of advanced tire friction models, estimators, and controllers. The vehicle comprises a high-torque permanent-magnet synchronous motor that is built in the driven wheel, and precise incremental encoders for driven and non-driven wheels. The paper presents a description of the vehicle with emphasis on the electrical and control subsystem, and gives characteristic experimental procedures and results related to motor static and dynamic behavior. Experimental results on tire friction identification and traction control are also included.