Abstract
This paper discusses a unique skidding detection and control strategy specified for electric vehicles. The anti-skid control is an exact example to explain that electric drive motors can be utilized not only for propulsion, but also as sensors and actuators in electric vehicles. This unique advantage of electric motors enables a simplified but effective anti-skid control strategy. The basic idea is to monitor and regulate a newly defined single parameter, Rat, the ratio of wheel equivalent linear acceleration to drive motor torque. The wheel slip level in longitudinal direction is proved to correlate to the value of Rat. A fuzzy-logic-based controller is then designed to regulate the variation range of Rat. Both simulation and experimental results validate the effectiveness of the proposed vehicle skidding detection and control. It is shown that by simultaneously using electric motors as drivers, actuators and sensors, the electric vehicles could achieve high-performance motion control with a flexible and simplified control configuration.
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