Abstract
The article introduces four variants of the controller design for a continuous wheel slip control (WSC) system developed for the full electric vehicle equipped with individual in-wheel motors for each wheel. The study includes explanation of the WSC architecture, design of controllers, and their validation on road tests. The investigated WSC design variants use variable-structure proportional-integral, first-order sliding mode, integral sliding mode controllers as well as continuous twisting algorithm. To compare their functionality, a benchmark procedure is proposed based on several performance factors responsible for driving safety, driving comfort, and control quality. The controllers are compared by the results of validation tests done on low-friction road surface.
Highlights
F ULL electric vehicles (EVs) with individually controlled electric motors for each wheel are becoming a wideManuscript received December 31, 2018; revised July 20, 2019; accepted September 6, 2019
An analysis of state-of-the-art solutions for wheel slip control (WSC) using SM methods allows identifying most common drawbacks of relevant studies: 1) their validation is mostly limited by simulation for a limited number of test cases; 2) optimal or reference slip is often selected in very high area λ = 0.1...0.2, even for low-friction surfaces, that does not correspond to real road conditions; and 3) the controllers demonstrate a chattering effect, at low velocities
The gains for four tested WSC variants were selected on the basis of previous simulation studies with minimal tuning during the tests
Summary
F ULL electric vehicles (EVs) with individually controlled electric motors for each wheel are becoming a wide. An analysis of state-of-the-art solutions for WSC using SM methods allows identifying most common drawbacks of relevant studies: 1) their validation is mostly limited by simulation for a limited number of test cases; 2) optimal or reference slip is often selected in very high area λ = 0.1...0.2, even for low-friction surfaces, that does not correspond to real road conditions; and 3) the controllers demonstrate a chattering effect, at low velocities Despite these drawbacks, the authors selected SM technique due to its robustness and relatively low computational costs for further study on WSC for EV with IWMs. It should be noted that there are no clear recommendations in the literature regarding the selection of the most suitable SM strategy for EV control.
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