Abstract
Aiming at improvement of the dynamic performance of in-wheel-drive electric vehicles, an approach to coordinate wheel slip ratio tracking with fulfilling driver’s desired torque is presented. First, an anti-windup PI controller for slip ratio tracking regardless the unknown ground adhesion, is proposed, followed by its stability analysis base on Lyapunov theory. Second, a coordinating logic is designed to guarantee that the slip ratio tracking control engages only when driver’s desired tracking or braking motor torque may cause the wheel to spin or lock. The performance of the control strategy is supported by simulation and experimental results.
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