Study on the Cruise Control of in-wheel motor based on the omni-directional steering vehicle

Abstract

In this paper, a Cruise Control System (CCS) is developed and implemented on an omni-directional steering vehicle which is driven by four in-wheel motors. The omni-directional steering vehicle can achieve omni-directional motions such as zero radius turning (ZRT) and later parking (LP). Since this vehicle used 4 in-wheel motors to provide vehicle driving source rather than traditional engine, thus the control of these motors is of great importance. The control scheme is proposed to actualize the precise control of the in-wheel motor. While the cruise control is designed to drive the 4 in-wheel motors to guarantee the normal operation of the whole vehicle. This system was simulated on Matlab/Simulink environment, and the feasibility of this control strategy is well verified.