Proposal of impedance control for electric vehicles with wheel resolver - application to hand assisted parking and position adjustment -

摘要

Electric vehicles (EVs) have an advantage over internal combustion vehicles in that the forces applied to the wheel can be estimated from the wheel velocity and input torque. By exploiting this feature, the authors propose to apply force control, which is often used for industrial robots, to EVs in order to achieve much more human friendly EVs. Many applications of force control for EVs are possible. In this paper, the hand parking assist control is proposed. The position of the vehicle body is adjusted by the human hand outside vehicles. The high backdrivability is achieved by using impedance control and driving force control. External forces applied by human hands and driving forces are estimated by disturbance observer (DOB). Some assist control methods are proposed and the most appropriate one is discussed with simulations by considering road surface change and resolution of wheel resolver. Finally, the effectiveness of the proposed method is demonstrated by an experiment.