Traction control of electric vehicle: basic experimental results using the test EV "UOT electric march"

Hori, Yoichi; Toyoda, Yasushi; Tsuruoka, Yoshimasa

doi:10.1109/28.720454

Cited by 251 publications

(118 citation statements)

References 10 publications

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“…동작하게 된다 [9]. 그림 11(b)는 understeer에 관한 제어로 후륜 모터는 차량 선회 주행에 있어서 direct yaw moment를 일으켜서 미끄러지 지 않게 작용하는 구동력을 일으킨다.…”

Section: 타내었다unclassified

Fuzzy Sliding Mode Control for Cornering Performance Improvement of 4WD HEV

Cheong¹,

Ryu²,

Lee³

2010

Journal of Institute of Control, Robotics and Systems

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A new Fuzzy sliding mode controller is proposed to improve the cornering performance of the four wheel hybrid vehicles. The Fuzzy sliding mode control is applied for the control of rear motor and EHB (Electro-Hydraulic Brake) to improve the cornering performance. The modeling of the automobile is simplified that each of the two wheels is modeled as two degrees of freedom object and the friction coefficient between the wheel and the ground is assumed to be constant. The output of the Fuzzy sliding mode algorithm is the direct yaw moment for the rear wheels, which compensates for the slip angle. Through the simulations using ADAMS and MATLAB Simulink, the cornering performance of the proposed algorithm is compared to the conventional PID to show the superiority of the proposed algorithm. In the simulation experiments, the J-Turn and single lane change are used for each of the Fuzzy sliding mode algorithm and PID controller with the optimal gains which are tuned empirically.

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Section: 타내었다unclassified

Fuzzy Sliding Mode Control for Cornering Performance Improvement of 4WD HEV

Cheong¹,

Ryu²,

Lee³

2010

Journal of Institute of Control, Robotics and Systems

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“…During the past years, due to the energy crisis and environmental concerns, electric vehicles (EVs) have become a fast-growing hotspot [1]. With the improvements on the electric motor and motor controller technology, many possibilities of power train configurations have been proposed [2,3].…”

Section: Introductionmentioning

confidence: 99%

Integrated Traction Control Strategy for Distributed Drive Electric Vehicles with Improvement of Economy and Longitudinal Driving Stability

Zhang

Göhlich

2017

Energies

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This paper presents an integrated traction control strategy (ITCS) for distributed drive electric vehicles. The purpose of the proposed strategy is to improve vehicle economy and longitudinal driving stability. On high adhesion roads, economy optimization algorithm is applied to maximize motors efficiency by means of the optimized torque distribution. On low adhesion roads, a sliding mode control (SMC) algorithm is implemented to guarantee the wheel slip ratio around the optimal slip ratio point to make full use of road adhesion capacity. In order to avoid the disturbance on slip ratio calculation due to the low vehicle speed, wheel rotational speed is taken as the control variable. Since the optimal slip ratio varies according to different road conditions, Bayesian hypothesis selection is utilized to estimate the road friction coefficient. Additionally, the ITCS is designed for combining the vehicle economy and stability control through three traction allocation cases: economy-based traction allocation, pedal self-correcting traction allocation and inter-axles traction allocation. Finally, simulations are conducted in CarSim and Matlab/Simulink environment. The results show that the proposed strategy effectively reduces vehicle energy consumption, suppresses wheels-skid and enhances the vehicle longitudinal stability and dynamic performance.

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“…Many technologies have been developed in order to reduce the slip and improve the adhesion performance for any wheels or surface conditions. Such technologies include: optimal slip ratio control [6], Model Following Control (MFC) [6], current disturbance observer [7], sliding mode measurement feedback control [8], slip ratio fuzzy control [9], slip controllers based on disturbance observers [10], back-EMF motor control [11] and road conditions estimators [12][13] [14]. In all control algorithms presented, the wheel speed and vehicle speed are required, with the exception of the back-EMF, which requires the motor's intrinsic parameters.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, avoiding slippage conditions while preserving motion as much as possible within the required performance is a necessary step. When traction loss cannot be avoided, it must be dealt with appropriately either by relaxing motion requirements or using a motion planning strategy [6] [2].…”

Section: Introductionmentioning

confidence: 99%

Distributed Active Traction Control System Applied to the RoboCup Middle Size League

Almeida

Dias

Martins

et al. 2013

International Journal of Advanced Robotic Systems

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This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team Robots with a differential wheel configuration. Traction was also characterized experimentally in the MSL scenario for relevant game events. This work proposes a hierarchical traction control architecture which relies on local slip detection and control at each wheel, with relevant information being relayed to a higher level responsible for global robot motion control. A dedicated one axis control embedded hardware subsystem allowing complex local control, high frequency current sensing and odometric information procession was developed. This local axis control board is integrated in a distributed system using CAN bus communications. The slipping observer was implemented in the axis control hardware nodes integrated in the ISePorto Robots and was used to control and detect loss of traction. An external vision system was used to perform a qualitative analysis of the slip detection and observer performance results are presented.

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Traction control of electric vehicle: basic experimental results using the test EV "UOT electric march"

Cited by 251 publications

References 10 publications

Fuzzy Sliding Mode Control for Cornering Performance Improvement of 4WD HEV

Fuzzy Sliding Mode Control for Cornering Performance Improvement of 4WD HEV

Integrated Traction Control Strategy for Distributed Drive Electric Vehicles with Improvement of Economy and Longitudinal Driving Stability

Distributed Active Traction Control System Applied to the RoboCup Middle Size League

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