Control Algorithms and Application Software of Electric Drive for Remotely Controlled Vehicle

Abstract

This paper concerns the proposal of software of electronic drive system 4WD of electric vehicle DEMOCAR. Structure of electronic system and design of parts of 4WD are described. Article is mainly focused on description of control algorithm of 4WD as well as differential and anti-slide system. Co-operation and communication between systems, especially brakes system and steering are important part as well. Last part includes safety solutions. Additionally, this paper includes implementation of superior control unit. Algorithms include communication, safety and computing part. Communication between DCU and other ECUs is based on CAN-Bus, communication between DCU and drive units is based on CANopen. Result of this thesis is the superior control unit capable of controlling four individual drive units. All functionality and parts of the application software were verification using driving test.