Anti-slip wheel controller drive for EV using speed and torque observers

Foito, Daniel; Guerreiro, M.; Cordeiro, Armando

doi:10.1109/icelmach.2008.4800160

Cited by 13 publications

(6 citation statements)

References 3 publications

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“…Through the above operation, the modifying control target can be equivalent to a variable parameter and frequency integral control. The definition of De k is as formula (23). N max is the maximal steps of the inner control loop, and the value is determined the same as the total time delay of the system, which is measured by the experiments and N max = 25 in the study.…”

Section: Modifying Control Targetmentioning

confidence: 99%

“…In the case of no overshoot, the value of K P should be as large as possible, and the value is 850 Nm in the study. Besides, the derivative control torques of the left and right driving wheels, T DL i, j ð Þ and T DR i, j ð Þ, are obtained as the formulas ( 21)- (23).…”

Section: Modifying Control Targetmentioning

confidence: 99%

“…22 In addition, torque observers are designed to estimate the road adhesion force to prevent the wheel from slipping more precisely. 23 Moreover, the road friction coefficient is estimated to generate the maximal driving torque, 24,25 and a dynamic friction force model is proposed to predict the friction force during transient vehicle motion more precisely. 26 Tire force is estimated for a robust adaptive anti-slip regulation controller to achieve better performance.…”

Section: Introductionmentioning

confidence: 99%

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An anti-slip control strategy with modifying target and torque reallocation for heavy in-wheel motor vehicle

Wang

Yuan

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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In-wheel motors are used in heavy vehicles such as buses and trucks to improve efficiency and compactness, the safety of which is particularly important. Anti-slip control is applied to road vehicles to improve the active safety performance, and it is necessary for heavy in-wheel motor vehicles. However, the experiment results in this study show that the response delay of motors on the heavy vehicle is larger than that of the passenger car, and the vehicle mass often changes, which brings drawbacks to the rapidity and stability of its dynamics control. For these problems, an improved Proportional-Derivative Control with a modifying desired wheel rotational speed is proposed for the slip regulation. The modifying control target is intended to mitigate steady tracking error, the role of which is similar to the traditional Integral Control. The desired wheel rotational speed is modified through the response in the current period, and then is set as the new target in the next period. Because the anti-slip control of driving wheels on each side is independent, the torque reallocation strategy is introduced to coordinate with the yaw control and take the yaw dynamics into account, which therefore improves the lateral stability. To avoid the excessive driving torque increment causing the slipping phenomenon again, after the anti-slip control finishing, a transition process is applied. Finally, simulations and real vehicle experiments are conducted to verify the effectiveness and flexibility of the control algorithm, and the results indicate that the control strategy has an expected performance.

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Section: Modifying Control Targetmentioning

confidence: 99%

Section: Modifying Control Targetmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An anti-slip control strategy with modifying target and torque reallocation for heavy in-wheel motor vehicle

Wang

Yuan

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Torque observers are designed to estimate the adhesion force of the road for preventing slipping more precisely. 29 In addition, road friction coefficient is estimated to generate the maximal driving torque. 30,31 When the vehicle drives in the creep condition, the vehicle speed is low and the yaw moment can be adjusted by driver via steering wheel on the split road.…”

Section: Introductionmentioning

confidence: 99%

A creep control for distributed rear wheel drive bus

Wang

Yuan

Chen

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Creep control is a kind of start-up control for electric vehicle. In the paper, two closed-loop control is contained in the creep control strategy. Proportional control with torque limitation, which adjusts vehicle speed, is the outer-loop control; and anti-slip control is the inner-loop control. In this way, the vehicle speed indicates no overshoot and has uniform convergence with driving torque. Moreover, the vehicle can start up on low adhesion or split road, and the driver can control the creep speed by the brake pedal only, so that the driver’s operation is reduced. Subjective evaluation method is proposed to determine the control performance metrics, and then the mathematical relationship between the performance metrics and the control parameters is established. The tuning method of the control parameters is proposed according to those performance metrics, which mitigates the workloads of calibration and provides a better driving experience. Some simulations and real vehicle experiments are conducted to verify that the control strategy has an expected performance.

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“…Sliding mode techniques have been preferred in the automotive systems because of their ability to deal with parameter uncertainties and disturbances (Hong et al, 2006;Amodeo et al, 2010). Another approach, applied on electrical cars, was based on adding two more electrical motors on the rear wheels to increase the stability by independent control (Mutoh, 2010;Foito et al, 2008). The experimental results on test vehicles showed the effectiveness of the wheel slip controllers and the increase in performance of the vehicles.…”

Section: Introductionmentioning

confidence: 99%