Modeling and Analysis of Lateral Control System on Electronic Differential for 2-Independent-Wheel Drive Electric Urban Bus

Abstract

To optimize the propulsion performance and to reduce the mass of electric vehicles, an electronic differential subsystem might be preferred since the transmission shaft is removed and the motor is directly connected to wheels. In this research, two motors are used to move 2-Independent-Wheel-Drive of an electric urban bus. In the connection between the two motors, the control system is required to align the performance of both motors to keep the bus stable. This study used the fuzzy logic control in Matlab/Simulink to drive the dynamics of the vehicle modeled in TruckSim. Through calculation, it was found that the maximum lateral speed of the vehicle had the characteristic speed of 150.36 km/h, with wheel angle conditions and slip angle that occurs are 10 deg and 5 deg. However, the speed at which the simulation is used is the maximum speed of the bus with a full charge of 70 km/h. After the simulation, the difference between the yaw rate is ideal, and the actual yaw rate was compared with the yaw rate range derived from the calculation. In the fuzzy logic control, the difference must be less than the yaw rate range. Simulation results showed that the control system was able to align the 2-independent motors by considering the yaw rate; thus the method can improve the dynamic stability of the bus.