Design Of Anti-Slip Controller For An Electric Vehicle With An Adhesion Status Analyzer Based On The Ev Simulator

Abstract

The In this paper, a simulator of a one-wheel Electric Vehicle system is designed for testing an anti-slip controller using the Motor-Generator system. The drive motor of the M-G system is used to simulate the drive wheel of the Electric Vehicle, and the load motor is used to simulate the load force of the chassis. In the driving process, the torque of the load motor is changed according to the drive force of the chassis that is calculated by the program. So it can simulate the dynamic process of the tire-road system. Based on this simulator system, an anti-slip controller based on an Adhesion Status Analyzer is proposed. Information about the wheel speed is acquired by using a Back EMF Observer. A load torque disturbance observer is designed to stabilize the acceleration of the wheels. The Adhesion Status Analyzer is used to generate safe acceleration commands for the anti-slip controller. When a slip occurs, the anti-slip controller will decrease the torque quickly, and at the same time, by estimating the dynamic status of adhesion, the Adhesion Status Analyzer will restrain the acceleration command within a safe area. The effectiveness of the proposed approach is verified by using the EV slip simulator.