EV Traction Control Based on Nonlinear Observers Considering Longitudinal and Lateral Tire Forces

Abstract

An observer-based traction control strategy for electric vehicles is proposed in this paper. The proposed strategy considers the combined effects of lateral and longitudinal traction forces, both for acceleration and regenerative braking, even in curved trajectories. Nonlinear reduced-order observers are designed for estimating tire-road friction condition on each traction wheel and vehicle lateral velocity from which side-slip angles are calculated. A detailed analysis of observers convergence is performed, and a method to know the quality of the estimated variables is also proposed. The proposed traction control strategy allows avoiding the traction wheels skidding during acceleration and braking both in straight trajectories and turning maneuvers. The performance of the proposal is verified through simulation on a complete vehicle model, under different situations and even considering a different vehicle tire model.

A Modified HOSM Controller Applied to an ABS Laboratory Setup with Adaptive Parameter

“…To develop the numerical simulations, the coefficients of the ABS laboratory setup are given in Table 1 and the controller implemented in numerical simulations (11) are given in Table 2. Also, the tests are done considering ω 1 (0) � ω 2 (0) � 178 (rad/s) (1700 rpm), as initial conditions for (7).…”

“…Nevertheless, this coefficient may vary in practice, remaining close to this value. e numerical simulations are summarized in Figures 2-5, where it can be seen that the proposed controller (11) ensures the performance of the system. Figure 3 shows the wheel velocity v w and the vehicle longitudinal velocity v x .…”

“…ere is literature regarding the modeling [1] and the estimation [2] of the tire-road friction coefficient. ese studies deal mainly with identifying the tire-road friction coefficient to improve the vehicle acceleration or deceleration [3][4][5][6][7][8][9][10][11][12][13]. However, today, the ABS is very important for passenger car safety, so further efforts should be made to continue studying it.…”

Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review

“…The driving wheel carrier drives the driving wheels to rotate passively. A lateral slip characteristic is observed when the robot is heavily loaded or encounters unpredictable deformations in the pipe [51,52], as shown in Figure 11. The driving wheel is subjected to the lateral force F y in the axial direction and will deform on the contact area with the pipe wall.…”

Event‐triggered distributed H ∞ control of physically interconnected mobile Euler–Lagrange systems with slipping, skidding and dead zone

“…In recent years, studies on control dealing with unknown skidding and slipping are reported in [4, 6], but controllers are focused on single‐agent systems. For a large‐scale system, Sun et al [7] proposed a decentralised control scheme that may be developed to apply to physically interconnected systems with the aim at reducing the physical effect among subsystems.…”