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Design of the Control System for a Four-wheel Driven Micro Electric Vehicle Abstract—In this paper, the control system for a four-wheeldriven micro electric vehicle has been designed, which consists of vehicle control unit (VCU), wheel-motor control unit (MCU), battery management system (BMS) and time-triggered CAN (TTCAN) communication network. The VCU, as a key component of the whole system, gives orders to other modules based on the driver manipulation, data from other modules via TTCAN and information collected by other vehicle sensors. The battery management system (BMS) is responsible for the battery maintenance and state estimation. The four motor control units (MCU) control the wheel motor locally according to the command from VCU. The TTCAN network is based on the conventional CAN and realized by software. Keywords-micro electric viehcle; control system design;BLDC motor;battery management system;TTCAN 
5289671[1]Design of the Control System for a Four-wheel Driven Micro Electric Vehicle.pdf
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