Novel estimation of tyre-road friction coefficient and slip ratio using electrical parameters of traction motor for electric vehicles

Abstract

The estimation of the friction coeffi cient and the slip ratio is crucial for advanced traction control or anti-brake control of electric vehicles. In this paper, dynamic behaviours of electrical parameters of the traction motor under road change are modelled and analysed. Novel estimation only using the measurements of the armature voltage and the current is proposed. The proposed method is much quicker than traditional methods, contributing to adjust the vehicle's motion state more quickly and precisely. Further, it can eliminate the speed measuring devices of the wheel speed and the vehicle speed. Simulations verify the effectiveness.