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Full-Text Articles in Computer Engineering
Research Advances On Electric Vehicle Routing Problem Models And Algorithms, Helin Zhuang, Xiaoyun Xia, Kangshun Li, Zefeng Chen, Xianchao Zhang
Research Advances On Electric Vehicle Routing Problem Models And Algorithms, Helin Zhuang, Xiaoyun Xia, Kangshun Li, Zefeng Chen, Xianchao Zhang
Journal of System Simulation
Abstract: The development of electric vehicle provides an alternative to conventional fuel vehicles for logistics companies. Using electric vehicles has the merits of less pollution and low noise, but the characteristics of limited cruising range and limited number of charging stations are new challenges. Electric vehicle routing problems(EVRPs) have been widely used in transportation, logistics and other fields, and have received much attention. A comprehensive survey of EVRP and its many variants are presented and the respective backgrounds and applicable conditions are analyzed. The solving approaches of EVRPs are categorized, the strengths and weaknesses of each algorithm are analyzed, and …
Teamwork Optimization Based Dtc For Enhanced Performance Of Im Based Electric Vehicle, Anjan Kumar Sahoo, Ranjan Kumar Jena
Teamwork Optimization Based Dtc For Enhanced Performance Of Im Based Electric Vehicle, Anjan Kumar Sahoo, Ranjan Kumar Jena
Turkish Journal of Electrical Engineering and Computer Sciences
The tailpipe emissions caused by vehicles using internal combustion engines are a significant source of air pollution. To reduce the health hazards caused by air pollution, advanced countries are now adopting the use of electric vehicles (EVs). Due to the advancement of electric vehicles, research and development efforts are being made to improve the performance of EV motors. With a nominal reference stator flux, the classical induction motor drive generates significant flux, torque ripple, and current harmonics. In this work, a teamwork optimization algorithm (TOA)-based optimal stator flux strategy is suggested for torque ripple reduction applied in a classical direct …
Modeling And Simulation Of Optimal Strategy For Electric Vehicles Participating In Power Grid Frequency Regulation, Li Yao, Junjie Hu, Wenshuai Ma, Zhile Yang
Modeling And Simulation Of Optimal Strategy For Electric Vehicles Participating In Power Grid Frequency Regulation, Li Yao, Junjie Hu, Wenshuai Ma, Zhile Yang
Journal of System Simulation
Abstract: Electric vehicles (EVs) have similar characteristics of distributed energy storage, and making full use of the flexibility of EVs can provide ancillary services to the grid and gain benefits. Considering the influence of uncertain factors, a bidding model for electric vehicle aggregator (EVA) to participate in the day-ahead energy market and frequency regulation ancillary service market is constructed with the maximum revenue expectation of EVA as the target. A real-time energy distribution incentive strategy based on contract theory is proposed to realize the distribution of EVA's frequency regulation demand under the condition of maximizing social welfare. Through case studies, …
Comparative Study Of A Bidirectional Multi-Phase Multiinput Converter For Electric Vehicles, Furkan Akar, Murat Kale, Sebahatti̇n Yalçin, Gözde Taş
Comparative Study Of A Bidirectional Multi-Phase Multiinput Converter For Electric Vehicles, Furkan Akar, Murat Kale, Sebahatti̇n Yalçin, Gözde Taş
Turkish Journal of Electrical Engineering and Computer Sciences
Multiinput converters allow to create hybrid energy systems in electric vehicles with a reduced part count. In addition, interleaved structures help to build efficient converters with several possible benefits, such as low current ripple and high power density. This paper proposes utilizing a multiphase multiinput converter (MPMIC), which concentrates the aforementioned advantages and presents a comprehensive comparison with its single-phase version, called single phase multiinput converter (SPMIC). After analysing their steady-state characteristics, SPMIC and MPMIC are designed considering same conditions. Then, two laboratory prototypes rated at 2.5kW output power are implemented to validate the analysis. Finally, these prototypes are compared …
Residential Demand Response Scheduling Optimization And Simulation Based On An Improved Pso Algorithm, Huazhen Li, Youquan Liu, Jiawei Zhu, Liao Qiang
Residential Demand Response Scheduling Optimization And Simulation Based On An Improved Pso Algorithm, Huazhen Li, Youquan Liu, Jiawei Zhu, Liao Qiang
Journal of System Simulation
Abstract: Aiming at the problems of low utilization rate of household load energy and the potential damage to the power grid caused by the lack of systematic and efficient management of household power consumption, the power consumption characteristics of controllable equipment and the energy storage characteristics of electric vehicles are modeled respectively, and the scheduling optimization objective function of household equipment under time of use price is established, and the improved particle swarm optimization algorithm is used to solve the problem. Through the example simulation, the residential power dispatching under various scenarios is analyzed. The experimental results show that the …
Modeling And Simulation Of Electric Vehicle Industry Development Based On System Dynamics, Yueqiang Fu, Tiantian Xia
Modeling And Simulation Of Electric Vehicle Industry Development Based On System Dynamics, Yueqiang Fu, Tiantian Xia
Journal of System Simulation
Abstract: New energy electric vehicle are the main trend of automobile industry upgrading. It plays an important role in ensuring the energy security and improving the ecological environment. It is of theoretical and practical significance to carry out research on the development of new energy electric vehicles. The affecting factors are systematically analyzed, the causal relationship model and stock flow model are established, and the dynamic equation of the model are determined and the parameter assignments are made. The model is verified and the system simulation and analysis are performed. The development trend and main influencing factors of …
Analysis Of Shielding Effectiveness By Optimizing Aperture Dimensions Of Arectangular Enclosure With Genetic Algorithm, Sunay Güler, Si̇bel Yeni̇kaya
Analysis Of Shielding Effectiveness By Optimizing Aperture Dimensions Of Arectangular Enclosure With Genetic Algorithm, Sunay Güler, Si̇bel Yeni̇kaya
Turkish Journal of Electrical Engineering and Computer Sciences
Electromagnetic compatibility (EMC) has now become a substantial challenge more than any other time sincethe number of electric vehicles (EV) increased rapidly. The electric driving system in an EV consists of power electroniccomponents supplied by high voltage battery source. They are both source and victim of potential electromagneticinterference (EMI) since fast switching process occurs inside them. Electromagnetic shielding provides a significantprotection against EMI for any electrical and electronic components inside the vehicle. In this paper, analysis of shieldingeffectiveness (SE) by optimizing aperture dimensions of a rectangular enclosure is investigated. Realistic dimensions of theshielding enclosure of an inverter component are employed. …
New Fail Operational Powernet Methods And Topologies For Automated Drivingwith Electric Vehicle, Ahmet Kiliç
New Fail Operational Powernet Methods And Topologies For Automated Drivingwith Electric Vehicle, Ahmet Kiliç
Turkish Journal of Electrical Engineering and Computer Sciences
Electric mobility and automation are important drivers for the future of the automotive industry. Thisrequires an extremely high level of safety, reliability, and efficiency of the energy supply in the vehicle compared to the stateof the art. It is not possible to fulfill these requirements with today's energy supply. To meet these requirements, a fault-operational, scalable powernet is needed. In this paper, a new methodology is presented for the development of powernetfor automated driving with electric vehicle. The new method enables the development of new fail operational powernettopologies, early detection of failures in powernet components and the fulfillment of automated …
Powertrain System Matching Optimization And Regenerative Braking Strategy For Pure Electric Vehicle, Zhang Qi, Xiaoling Fu, Li Ke, Guojing Xing, Chenghui Zhang
Powertrain System Matching Optimization And Regenerative Braking Strategy For Pure Electric Vehicle, Zhang Qi, Xiaoling Fu, Li Ke, Guojing Xing, Chenghui Zhang
Journal of System Simulation
Abstract: Different matching proposals meeting the constraints were multi-objective optimized with the combined matrix, and a new regenerative braking control strategy for electric vehicle was designed. According to the design targets of pure electric vehicle, the parameters of drive motor, battery pack and reducer were analyzed. Multi-objective optimization function was designed with the linearity weighted aggregation method, considering both power and economy of electric vehicle, and the vehicle performance of different proposals was comparatively measured through Cruise combined matrix simulation. The front and rear braking force distribution control strategy was designed based on the velocity and brake pedal intensity. Simulation …
Research On Full-Circuit Simulation Platform For Conducted Noise Pre-Evaluation, Shangbin Ye, Jiajia Zhang, Yicheng Zhang, Yongtao Yao
Research On Full-Circuit Simulation Platform For Conducted Noise Pre-Evaluation, Shangbin Ye, Jiajia Zhang, Yicheng Zhang, Yongtao Yao
Journal of System Simulation
Abstract: As conducted noise frequency band of power convertor in electric vehicle is stricter than that in normal industrial equipment, a conducted noise simulation modeling method is needed which is suit for wide frequency range. A full-circuit conducted noise modeling method based on component model was proposed, in which high frequency dynamic characteristic was simulated by the active device model, complex impedance characteristic at full frequency band was described by the passive model, distributed parameter of bus structure and near-field coupling parameter were extracted to simulate their influence on coupling path of conducted noise. On the basis, full-circuit simulation platform …
Time Domain Vertical Dynamics Model Of Electric Vehicle Considering Electric Motor Vibration, Guoying Tian, Pengyi Deng, Shulei Sun, Yiqiang Peng, Haiying Lu
Time Domain Vertical Dynamics Model Of Electric Vehicle Considering Electric Motor Vibration, Guoying Tian, Pengyi Deng, Shulei Sun, Yiqiang Peng, Haiying Lu
Journal of System Simulation
Abstract: On the basis of considering the electric motor vibration, a time domain vertical dynamics model of the electric vehicle with 11 DOF is built, and the road roughness input model and the numerical method are given. Aiming at an electric passenger vehicle, the basic characteristics of the typical vehicle dynamics responses under the condition of the impulse and random road roughness inputs are calculated, the influence of the different mount stiffness, damping and motor mass on the motor and the vehicle vibration is analyzed under the condition of the impulse input. The results show that the proposed model is …
A Ga-Based Adaptive Mechanism For Sensorless Vector Control Of Induction Motor Drives For Urban Electric Vehicles, Asma Boulmane, Youssef Zidani, Driss Belkhayat, Marouane Bouchouirbat
A Ga-Based Adaptive Mechanism For Sensorless Vector Control Of Induction Motor Drives For Urban Electric Vehicles, Asma Boulmane, Youssef Zidani, Driss Belkhayat, Marouane Bouchouirbat
Turkish Journal of Electrical Engineering and Computer Sciences
Induction motors are more attractive to car manufacturers because they are more robust and more cost effective to maintain in comparison with other types of electric machines. The evolution of their control makes them more efficient and less expensive. However, a new control technique known as sensorless control is being used to simplify the implementation of electric machines in electric vehicles. This technique involves replacing the flux and speed sensors with an observer. The estimation of these elements is based on the measurement of currents and voltages. The main purpose of the present study is to design a novel robust …
Potential Users Of Battery Electric Vehicle Based On Big Data Of Floating Vehicles, Kong Yuan, Yiman Du, Jianping Wu, Kezhen Hu
Potential Users Of Battery Electric Vehicle Based On Big Data Of Floating Vehicles, Kong Yuan, Yiman Du, Jianping Wu, Kezhen Hu
Journal of System Simulation
Abstract: Nowadays, the Chinese government is strongly pushing the adoption of new energy vehicles, so it is of great significance to find the most suitable users of EV (Electric Vehicle). This paper did a data mining work to find out target user group of EV based on two-month traveling data, driver information and vehicle attribute information of 12,000 floating vehicles in Beijing. The results show that residential area is more suitable to push the adoption of EV than other functional areas; adding charging piles in the destination area can turn the 9.2% of drivers who are not suitable for EV …
Parameter Matching Optimization Of Pure Electric Vehicle Based On Firefly Algorithm, Li Yan, Yigang He
Parameter Matching Optimization Of Pure Electric Vehicle Based On Firefly Algorithm, Li Yan, Yigang He
Journal of System Simulation
Abstract: According to the design requirements and technical index of pure electric vehicle, the parameters of motor and battery related to power and economic performance are selected based on the computing results. Based on ADVISOR, a vehicle model of pure electric vehicle is established in MATLAB environment with the corresponding parameters validating the simulation results. On this basis, the multi-objective function is established, which includes the power performance, economic performance and cost price. This function is optimized by the firefly algorithm, which makes the dynamic parameters, the dynamic performance and economy performance of pure electric vehicle be improved significantly and …
Modelling Of Evs Energy Consumption From Perspective Of Field Test Data And Driving Style Questionnaires, Kezhen Hu, Jianping Wu, Mingyu Liu
Modelling Of Evs Energy Consumption From Perspective Of Field Test Data And Driving Style Questionnaires, Kezhen Hu, Jianping Wu, Mingyu Liu
Journal of System Simulation
Abstract: With the electric vehicles (EVs) gaining popularity in megacities, the energy consumption of EVs has subsequently caught researchers’ attention. The exploration of energy consumption of EVs has largely focused on people’s revealed driving behavior and rarely touched on their self-perception of driving styles. Aiming to investigate how the energy efficiency of EVs is shaped by the driving behavior and driving style in the urban scenario from field test data and driving style questionnaires (DSQs), a human-centric approach is adopted. The results of a correlation analysis demonstrate the dynamic interaction between drivers’ revealed behavior and stated driving style under different …
Simulation Study Of Ev Sharing Service In Huadu District, Guangzhou, Tingting Li, Jianping Wu
Simulation Study Of Ev Sharing Service In Huadu District, Guangzhou, Tingting Li, Jianping Wu
Journal of System Simulation
Abstract: Electric vehicle (EV) sharing service plays an important role in the construction of the intelligent city, which can reduce the traffic emissions and cut down the ownership of private cars. In order to explore the traffic and environment effectiveness of the car sharing service, this paper builds a microscopic simulation model of EV sharing service. Based on the survey data, a simulation model containing 51 intersections and 107 roads is conducted. Considering 5 different traffic scenes, the paper evaluates the service from various viewpoints. The results demonstrate that there is no distinct influence on the traffic efficiency. However, …
Modeling And Analysis Of Operation Benefit For Electric Vehicle Battery Swapping Station, Weiqing Sun, Shunfeng Chen, Liu Tong, Xiaodong Wu
Modeling And Analysis Of Operation Benefit For Electric Vehicle Battery Swapping Station, Weiqing Sun, Shunfeng Chen, Liu Tong, Xiaodong Wu
Journal of System Simulation
Abstract: The operators of electric vehicle battery swapping stations (EVBSS) seek the maximization of benefit by optimizing the modeling. The changes of operating parameters such as battery swapping demand could affect EVBSS benefits. A linear programming model for EVBSS maximum benefit is established. Based on the sensitivity analysis, it is found that the EVBSS benefit is mainly affected by operating parameters such as battery swapping price, battery depreciation cost, electricity price, etc. For power grid, the sensitivity parameters of peak load shifting are charging-pile number and battery number. The optimal quantity of EVBSS internal infrastructure investment is analyzed. The establishment …
Assessment Of Techno-Economic Benefits For Smart Charging Scheme Of Electric Vehicles In Residential Distribution System, Kumari Kasturi, Manas Ranjan Nayak
Assessment Of Techno-Economic Benefits For Smart Charging Scheme Of Electric Vehicles In Residential Distribution System, Kumari Kasturi, Manas Ranjan Nayak
Turkish Journal of Electrical Engineering and Computer Sciences
Connecting multiple electric vehicles (EVs) to a power system network for the purpose of charging has major setbacks like decrease in power quality, instability in voltage profile, and increase in power losses and thus electricity price. This paper focuses on devising an optimal charging scheme to reduce the negative impacts of EVs' presence in the distribution network by limiting the charging process to only off-peak demand periods when the electricity price is comparatively lower. The salp swarm algorithm, an efficient, fast, and reliable optimization technique, is used to obtain the optimal locations for the EVs and their charging schedule in …
Pv-Based Off-Board Electric Vehicle Battery Charger Using Bidc, Ankita Paul, Krithiga Subramanian, Sujitha N
Pv-Based Off-Board Electric Vehicle Battery Charger Using Bidc, Ankita Paul, Krithiga Subramanian, Sujitha N
Turkish Journal of Electrical Engineering and Computer Sciences
In recent years, the use of renewable energy sources is increasing drastically in several sectors, which leads to its role in the automobile industry to charge electric vehicle (EV) batteries. In this paper, a photovoltaic (PV) array-fed off-board battery charging system using a bidirectional interleaved DC-DC converter (BIDC) is proposed for light-weight EVs. This off-board charging system is capable of operating in dual mode, thereby supplying power to the EV battery from the PV array in standstill conditions and driving the DC load by the EV battery during running conditions. This dual mode operation is accomplished by the use of …
Particle Swarm Optimization Approach To Optimal Design Of An Afpm Tractionmachine For Different Driving Conditions, Naghi Rostami
Particle Swarm Optimization Approach To Optimal Design Of An Afpm Tractionmachine For Different Driving Conditions, Naghi Rostami
Turkish Journal of Electrical Engineering and Computer Sciences
Axial flux permanent magnet (AFPM) machines can be employed as the traction motor of electric vehicles due to their high torque capability, high efficiency, modular and compact construction, and capability of integration with other mechanical components in integrated systems. Besides, the system efficiency can be further improved by optimal design of the selected electric machine. In this paper, an AFPM machine is optimized against two well-known driving cycles called the New European Drive Cycle (NEDC) and US06 and the influence of the driving cycle on the obtained machine parameters is evaluated. US06 is the more demanding driving cycle and thus …
An Integrated Approach For The Development Of An Electric Vehicle Powertrain: Design, Analysis, And Implementation, Özgür Üstün, Ramazan Nejat Tuncay, Mert Safa Mökükcü, Ömer Ci̇han Kivanç, Gürkan Tosun, Can Gökce, Murat Çakan
An Integrated Approach For The Development Of An Electric Vehicle Powertrain: Design, Analysis, And Implementation, Özgür Üstün, Ramazan Nejat Tuncay, Mert Safa Mökükcü, Ömer Ci̇han Kivanç, Gürkan Tosun, Can Gökce, Murat Çakan
Turkish Journal of Electrical Engineering and Computer Sciences
Electric motor and power electronic systems are essential elements for the performance and efficiency of electric vehicles (EVs) and hybrid electric vehicles. The inadequacy of the range due to battery limitations is compensated by powertrain solutions and innovative control algorithms. Future targets of electric powertrains are mostly based on weight, space, and efficiency issues. Highly efficient low-volume and light-weight propulsion systems increase the performance of EVs and also enhance their importance as an alternative to internal combustion engine vehicles. In this paper, a detailed propulsion system design study is presented by considering all of the important constraints of the electric …
Two-Stage Optimization Method For Power Loss And Voltage Profile Control Indistribution Systems With Dgs And Evs Using Stochastic Second-Order Coneprogramming, Huiling Tang, Jiekang Wu, Zhijiang Wu, Lingmin Chen
Two-Stage Optimization Method For Power Loss And Voltage Profile Control Indistribution Systems With Dgs And Evs Using Stochastic Second-Order Coneprogramming, Huiling Tang, Jiekang Wu, Zhijiang Wu, Lingmin Chen
Turkish Journal of Electrical Engineering and Computer Sciences
This paper introduces a stochastic second-order cone programming (SSCOP) approach to solve the distributed generation coordination problem considering the uncertainty of electric vehicle charging in distribution networks. To minimize the total power loss in the distribution system, the problem is formulated to coordinate the output power of distributed generations (DGs). Two stages are presented to solve the optimization problem: the first stage is to optimize the output power of distributed generators without electric vehicle charging in the distribution system, and the second stage is to optimize the output power of distributed generators according to the stochastic increased load due to …
Mopso-Based Predictive Control Strategy For Efficient Operation Of Sensorless Vector-Controlled Fuel Cell Electric Vehicle Induction Motor Drives, Adel Abdelaziz Abdelghany Elgammal, Mohammed Fathy El_Naggar
Mopso-Based Predictive Control Strategy For Efficient Operation Of Sensorless Vector-Controlled Fuel Cell Electric Vehicle Induction Motor Drives, Adel Abdelaziz Abdelghany Elgammal, Mohammed Fathy El_Naggar
Turkish Journal of Electrical Engineering and Computer Sciences
This paper introduces an optimal control strategy of model-based predictive control (MPC) based on multiobjective particle swarm optimization (MOPSO) for a sensorless vector control induction motor, which is used in a fuel cell electric vehicle drive system. The proposed MPC-MOPSO algorithm is implemented to tune the weighting parameters of the MPC controller to tackle all the conflicting objective functions. The paper handles the following fitness functions: minimizing the speed error, minimizing the torque ripple, minimizing the DC-link voltage ripple, and minimizing machine flux ripple. Computer simulations studies have been completed utilizing MATLAB/Simulink with a specific end goal of assessing the …
A Bidirectional Wireless Power Transfer System For An Electric Vehicle With A Relay Circuit, Chenyang Xia, Wei Wang, Yuling Liu, Kezhang Lin, Yanhe Wang, Xiaojie Wu
A Bidirectional Wireless Power Transfer System For An Electric Vehicle With A Relay Circuit, Chenyang Xia, Wei Wang, Yuling Liu, Kezhang Lin, Yanhe Wang, Xiaojie Wu
Turkish Journal of Electrical Engineering and Computer Sciences
In order to extend the transfer distance, enhance the tolerance for coil misalignment, and improve the capability of energy feedback and power transfer efficiency of conventional wireless power transfer (WPT) systems for electric vehicles, this paper presents a bidirectional WPT topology with a relay circuit. In the proposed topology, the primary and pickup circuits are implemented with virtually identical structures, which can operate in both magnetic field excitation and magnetic field receiving modes to facilitate bidirectional power flow between the primary side and the pickup side. A relay circuit is introduced to achieve high transfer efficiency under special conditions such …
Research On Switched Reluctance Machine Drive Topology And Control Strategies For Electric Vehicles, He Cheng, Hao Chen, Lei Ma, Guojun Yu
Research On Switched Reluctance Machine Drive Topology And Control Strategies For Electric Vehicles, He Cheng, Hao Chen, Lei Ma, Guojun Yu
Turkish Journal of Electrical Engineering and Computer Sciences
The electric drive system is one of the key technologies for electric vehicles. First, the energy flow of an electric vehicle is analyzed in the driving, braking, and charging working states. After that, a drive topology that can achieve 3 working states is proposed based on the driving characteristics of a switched reluctance machine. In the driving state, the boost mode of a front-end converter is used to achieve different operating conditions, including low speed with a light load or high speed with a heavy load. In the braking state, the front-end converter is used to implement smooth switching between …
A New Deployment Method For Electric Vehicle Charging Infrastructure, Bünyami̇n Yağciteki̇n, Mehmet Uzunoğlu, Ari̇f Karakaş
A New Deployment Method For Electric Vehicle Charging Infrastructure, Bünyami̇n Yağciteki̇n, Mehmet Uzunoğlu, Ari̇f Karakaş
Turkish Journal of Electrical Engineering and Computer Sciences
The fast depletion of fossil fuels, climate change, and global warming have become major worldwide problems and alternatives for conventional transportation have been actively researched in the last decade. Compared to available conventional vehicles, electric vehicles have a leading position due to their environmentally friendly transportation. Recent electric vehicle penetration brings the necessity of a high number of charging stations, which are considered to be established in community areas such as shopping centers, hospitals, commercial areas, university campuses, residential areas, and streets. Deployment planning of charging stations is very important for driver expectations and social and economic impacts of electric …
Electromagnetic Performance Analysis Of Multilayer Interior Pmsm With Fractional Slot Concentrated Windings For Electric Vehicle Applications, Zhiwei Zhang, Libing Zhou
Electromagnetic Performance Analysis Of Multilayer Interior Pmsm With Fractional Slot Concentrated Windings For Electric Vehicle Applications, Zhiwei Zhang, Libing Zhou
Turkish Journal of Electrical Engineering and Computer Sciences
This paper presents the design and analysis of fractional slot multilayer interior permanent magnet synchronous machines (PMSMs) with concentrated winding for electric vehicles applications. The major advantages of concentrated winding will be analyzed first. The significant design consideration of multilayer interior permanent magnet machines will be illustrated, as well. Finally, the advanced finite element method will be employed to verify the detailed electromagnetic performance of the proposed interior PMSMs.
Electronic Differential With Direct Torque Fuzzy Control For Vehicle Propulsion System, Kada Hartani, Mohamed Bourahla, Yahia Miloud, Mohamed Sekour
Electronic Differential With Direct Torque Fuzzy Control For Vehicle Propulsion System, Kada Hartani, Mohamed Bourahla, Yahia Miloud, Mohamed Sekour
Turkish Journal of Electrical Engineering and Computer Sciences
We model an electronic differential that will offer the best vehicle stability on a curved road. The proposed traction system consists of two permanent magnet synchronous (PMS) machines that ensure the drive of two back-driving wheels. The contribution of each wheel to the advance of the vehicle is represented by an element conveying the accumulation of mechanical coupling. The proposed control structure is based on the direct torque fuzzy control for each wheel-motor. Different simulations have been carried out: vehicle driven ons straight road, vehicle driven on straight road with slope, and vehicle driven over a road curved left and …