Analysis of wavelet controller for robustness in electronic differential of electric vehicles: an investigation and numerical developments

Daya, Febin J.L.; Sanjeevikumar, Padmanaban; Blaabjerg, Frede; Wheeler, Patrick; Olorunfemi Ojo, Joseph; Ertas, Ahmet H.

Abstract

In road transportation systems, differential plays an important role in preventing the vehicle from slipping on curved tracks. In practice, mechanical differentials are used, but they are bulky because of their increased weight. Moreover, they are not suitable for electric vehicles, especially those employing separate drives for both rear wheels. The electronic differential constitutes recent technological advances in electric vehicle design, enabling better stability and control of a vehicle on curved roads. This article articulates the modeling and simulation of an electronic differential employing a novel wavelet transform controller for two brushless DC motors ensuring drive in two right and left back driving wheels. Further, the proposed work uses a discrete wavelet transform controller to decompose the error between actual and command speed provided by the electronic differential based on throttle and steering angle as the input into frequency components. By scaling these frequency components by their respective gains, the obtained control signal is actually given as input to the motor. To verify the proposal, a set of designed strategies were carried out: a vehicle on a straight road, turning right and turning left. Numerical simulation test results of the controllers are presented and compared for robust performance and stability.

Citation

Daya, F. J., Sanjeevikumar, P., Blaabjerg, F., Wheeler, P., Olorunfemi Ojo, J., & Ertas, A. H. (in press). Analysis of wavelet controller for robustness in electronic differential of electric vehicles: an investigation and numerical developments. Electric Power Components and Systems, 44(7), https://doi.org/10.1080/15325008.2015.1131771

• Journal Article Type: Article
• Acceptance Date: Nov 22, 2015
• Online Publication Date: Apr 4, 2016
• Deposit Date: May 18, 2016
• Publicly Available Date: Sep 7, 2016
• Journal: Electric Power Components and Systems
• Print ISSN: 1532-5008
• Electronic ISSN: 1532-5016
• Publisher: Taylor and Francis
• Peer Reviewed: Peer Reviewed
• Volume: 44
• Issue: 7
• DOI: https://doi.org/10.1080/15325008.2015.1131771
• Keywords: Electronic differential; electric vehicle; wavelet controller; traction control; brushless DC motor; mechanical differential; electronic differential; proportional integral differential controller; fuzzy logic; neural wavelet system
• Public URL: https://nottingham-repository.worktribe.com/output/786530
• Publisher URL: http://dx.doi.org/10.1080/15325008.2015.1131771
• Additional Information: This is an Accepted Manuscript of an article published by Taylor & Francis in Electric Power Components and Systems on 04/04/2016, available online: http://www.tandfonline.com/10.1080/15325008.2015.1131771.
• Contract Date: May 18, 2016