NEW ANTI-SKID CONTROL FOR ELECTRIC VEHICLE USING BEHAVIOUR MODEL CONTROL BASED ON ENERGETIC MACROSCOPIC REPRESENTATION
Kada Hartani - Mohamed Bourahla - Yahia Miloud
The contribution of each wheel to the advance of the vehicle is represented by a mechanical coupling of accumulation element. However, by taking into account the contact wheel-road, a new problem occurs which can be associated with the mechanical coupling, adding to that, the principle of contact which is badly known, nonlinear and non-stationary. The whole of these phenomena (mechanical coupling and skid) will induce different resistive torques for the machines. The problems arising from the mechanical coupling are related to the nonlinear character of the contact wheel-road. The solution of this problem is obtained by using a model control structure adapted well to the nonlinear systems: the behaviour model control (BMC). A specific formalism based on energetic conversion is used to model an electric vehicle using two permanent magnet synchronous motors. From this modelling, a complete model of the electromechanical system is implemented in simulation which includes both PMS motors, the wheels and vehicle dynamics induced by the adhesion phenomenon. The simulations carried out using Matlab/Simulink showed that the non linear problem of adhesion is solved by the behaviour model control in which the skid phenomenon has completely disappeared and the stability of vehicle is assured.
Keywords: behaviour model control, anti-skid control, multi-machine control, electric vehicle