Control algorithms in distributed system of three wheeled electric vehicle

The paper presents a concept, development and comparison of selected control algorithms used in distributed control system of a three wheeled vehicle. First simulations are carried out, then the selected algorithms are tested on a real vehicle. The article includes the description of the mathematical model of the tricycle: kinematics, dynamics, motor drives, central control system, communication network and a signal flow. The mathematical model has been implemented in Matlab/Simulink environment. The vehicle uniqueness base on that it is driven with three independent BLDC drives and equipped with generator coupled with pedals. The cyclist propels the generator, whose speed (depending an control algorithm) determines the speed of the wheels. The load of the driver varies depending on the actual load of the BLDC motors. Pedaling by wire novel idea of control scheme has been applied to the trike, which means that there is no mechanical coupling (by chain or shaft) between the pedals and the wheels of the tricycle. The lack of the standard mechanical coupling enables to implement various control methods that can be focused on: dynamic (performance) of the tricycle, energy efficiency and driving comfort. The paper discusses the problem of energy distribution between cyclist and the vehicle and focuses on control algorithms determining that distribution. Simulation are verified by experiment with waveform comparison. Analysis of research results supplemented by quality indicators. Conclusions and proposes of further investigations are presented.