Longitudinal Slip Ratio Control of Electric Powertrains Using a Controller Output Observer for Disturbance Rejection

The use of electric motors to independently control the torque of two or four wheels of a vehicle has the potential to significantly improve safety and handling. One virtue of electric motors is that their output torque can be accurately estimated. Using this known output torque, longitudinal tire force and coefficient of friction can be estimated via a controller output observer. This observer works by constructing a model of wheel dynamics, with longitudinal tire force as an unknown input quantity. A known wheel torque is input to the physical and modeled system and the resulting measured and predicted wheel speeds are compared. The error between the measured and predicted wheel speed is driven towards zero by a robust feedback controller. This controller modulates an estimate of longitudinal tire force used as an input by the wheel dynamics model. The resulting estimate of longitudinal tire force quickly converges towards the actual value with minimal computational expense. Using this estimate, a methodology for controlling tire slip ratio is presented. The estimated longitudinal force is applied as a known disturbance which is explicitly rejected by the control law. This allows for less aggressive feedback control gains and improved robustness. The resulting slip ratio control system shows promising results when simulated in the CarSim environment.