Document Type : Original Research Paper


1 Research and Science Branch of Islamic Azad University, Borujerd, Iran

2 Shahid Rajaee Teacher Training University, Tehran, Iran

3 Shahid Madani University of Azarbayjan, Iran


In front wheels driven vehicles, fuel economy can be obtained by summing torques applied to rear wheels. On the other hand, unequal torques applied to rear wheels provides enhanced safety. In this paper, a model with seven degrees of freedom is considered for the vehicle body. Thereafter, power-train subsystems are modeled. Considering an electrical machine on each rear wheel, a fuzzy controller is designed for each driving, braking, and stability conditions. Another fuzzy controller recognizes the vehicle requirements between the driving/regeneration and stability modes. The simulations performed in MATLAB/Simulink environment show that the proposed structure can effectively enhance vehicle performance in different modes.


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