Slip ratio control using load-side high-resolution encoder for in-wheel-motor with reduction gear

Electric vehicles have recently attracted broad attention. Advantage of Electric Vehicles is not only environmental performance but also higher response vehicle motion control when compared to internal combustion engine vehicle. In order to improve motion control performance of Electric Vehicles, applying high-resolution encoders both on a motor side and a wheel side is a good solution. In this paper, the design of the actual vehicle unit for experimental electric vehicle FPEV4-Sawyer is explained. Furthermore, the effectiveness of using high-resolution encoder on vehicle motion control methods is discussed with simulations and experiments of slip ratio control.