Traction control of an electric vehicle based on nonlinear observers

• Main Authors: Diego A. Aligia, Guillermo A. Magallán, Cristian H. De Angelo
• Format: Article
• Language: Spanish
• Published: Universitat Politecnica de Valencia 2017-12-01
• Series: Revista Iberoamericana de Automática e Informática Industrial RIAI
• Subjects: Control de tracción; Condición de suelo; Coeficiente de rozamiento; Modelo de neumático brush; Linealización exacta por realimentación; Observador no lineal de Luenberger
• Online Access: https://polipapers.upv.es/index.php/RIAI/article/view/8736

A traction control strategy for a four-wheel electric vehicle is proposed in this paper. The strategy is based on nonlinear observers which allows estimating the maximum force that can be transmitted to the road. Knowledge of the maximum force allows controlling the slip of the driving wheels, preventing the wheel’s slippage in low-grip surfaces. The proposed strategy also allows to avoid the undesired yaw moment in the vehicle which occurs when road conditions on either side of it are dierent. This improves the eciency and the control of the vehicle, avoiding possible losses of stability that can result in risks for its occupants. Both the proposed observer and the control strategy are designed based on a dynamic rotational model of the wheel and a brush force model. Simulation results are obtained based on a complete vehicle model on the Simulink/CarSim platform.