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A Robust Wheel Slip Control Design with Radius Dynamics Observer for EV
Abstract:
In order to improve the safety and dynamic performance of electric vehicles
equipped with four in-wheel electric motors, and prevent the wheels from locking
or slipping when braking or accelerating, a new longitudinal control strategy
which combines ASR traction and ABS braking control is proposed using an
observation algorithm of effective radius for four wheel of electric vehicle.
Using the electric motor torques as the unique actuator signal sources, this
combined ASR/ABS can act as acceleration slip regulation (ASR) by preventing the
wheels from slipping during acceleration and as an antilock braking system (ABS)
by preventing the wheels from getting locked during braking. A variation of
effective radius of the wheel’s tire can have an incidence on the longitudinal
and lateral control. Moreover, the wheel effective radius observer based on high
order sliding mode approach using the information of the electric motor torques
and the angular velocities is used in the combined ASR/ABS systems. First,
adjusting the motor torque and based on Fuzzy logic control, the acceleration
slip regulation (ASR) is designed to maintain the wheel slip in the optimal
range using the angular acceleration and slip rate. Second, for limiting the
wheel slip by adjusting the motor torque the sliding mode control is used.
Several Matlab/Simulink simulation tests will be carried out to validate the
effectiveness of the proposed controller.