Abstract
In this paper, a robust wheel slip control system based on a sliding mode controller is proposed for improving traction-ability and reducing energy consumption during sudden acceleration for a personal electric vehicle. Sliding mode control techniques have been employed widely in the development of a robust wheel slip controller of conventional internal combustion engine vehicles due to their application effectiveness in nonlinear systems and robustness against model uncertainties and disturbances. A practical slip control system which takes advantage of the features of electric motors is proposed and an algorithm for vehicle velocity estimation is also introduced. The vehicle velocity estimator was designed based on rotational wheel dynamics, measurable motor torque, and wheel velocity as well as rule-based logic. The simulations and experiments were carried out using both CarSim software and an experimental electric vehicle equipped with in-wheel-motors. Through field tests, traction performance and effectiveness in terms of energy saving were all verified. Comparative experiments with variations of control variables proved the effectiveness and practicality of the proposed control design.
Highlights
Due to the increasing requirements with regard to introducing environmental-friendly vehicles and electrification of vehicle systems, much research on electric vehicles has been carried out [1,2,3,4,5,6,7,8,9].In particular, in the motion control field of electric vehicles, traction control methods such as an anti-slip control [1], a model following control-based traction control [2], and slip ratio control based on slip estimation were proposed and applied in actual electric vehicles [3]
Feedback controller: a sliding mode control approach is applied to achieve robust tracking control of the wheel slip ratio and its asymptotical stability is proven by employing the Driving force observer: in order to monitor wheel status in real-time, a driving forces observer is designed based on rotational wheel dynamics and measurable motor torque and rotational wheel velocity
In order to verify the performance of a proposed estimation algorithm, the experiments were carried out using an experimental electric vehicle (i.e., COMS3)
Summary
In the motion control field of electric vehicles, traction control methods such as an anti-slip control [1], a model following control-based traction control [2], and slip ratio control based on slip estimation were proposed and applied in actual electric vehicles [3]. These traction control methods were developed based on the advantages of electric vehicles equipped with in-wheel motors. The main advantages of electric vehicles in terms of motion control are summarized as follows [3,4,5]: Quick torque generation by in-wheel driving motors.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
