Abstract
Traction control system is studied based on the Omni-directional vehicle which is built by our research group. The research mainly involves two aspects, vehicle state estimation and vehicle traction control logic design. Extended Kalman Estimation relying on multiple degrees of freedom vehicle model is used to estimate vehicle longitudinal speed, lateral speed, side slip angle, and yaw rate. Traction control system calculates tire slip ratios of four wheels according to the estimated vehicle velocity, and then traction control logic is designed by PID control. Simulations based on Carsim and Matlab/Simulink show that vehicle state estimation algorithm estimates vehicle speed, side slip angle and yaw rate effectively, and traction control logic can prevent wheel from excessive spinning using by the estimated slip ratio to improve vehicle acceleration performance and directional stability.
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