Electric drive of the active trailer

This article deals with active trailer electric drive mathematical modelling. The model describes mechanical and electromechanical energy conversion. As the electric drive control system there is chosen classic subordinate control scheme. The electric drive is designed as a multiple-loop control system that includes the control loop of stator phase current, motor torque and speed. The model takes into account the nonlinearity of the magnetization curve of steel, that the motor is made of, and also modes of wheel slipping.