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Research Papers

Wheel Slip Control Using Sliding-Mode Technique and Maximum Transmissible Torque Estimation

[+] Author and Article Information
Jianqiu Li

State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: lijianqiu@tsinghua.edu.cn

Ziyou Song, Zhibin Shuai, Liangfei Xu, Minggao Ouyang

State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 22, 2014; final manuscript received July 9, 2015; published online August 14, 2015. Assoc. Editor: Junmin Wang.

J. Dyn. Sys., Meas., Control 137(11), 111010 (Aug 14, 2015) (10 pages) Paper No: DS-14-1496; doi: 10.1115/1.4031056 History: Received November 22, 2014

This paper presents the analysis and design of a novel traction control system (TCS) based on sliding-mode control (SMC) and maximum transmissible torque estimation (MTTE) technique, which is employed in four-wheel independent drive electric vehicles (EVs) without detecting the vehicle velocity and acceleration. The original MTTE technique is effective with regard to the antislip control; however, it cannot sufficiently utilize the adhesive force from the tire–road surface. In the proposed TCS algorithm, only front wheels are equipped with the MTTE technique, while rear wheels are equipped with the SMC technique. As a result, the front wheel is critically controlled by the MTTE technique. Thus, its rotary speed can be used to approximately estimate the chassis velocity and acceleration, which are key input parameters of the SMC. The rear wheel slip ratio can be therefore controlled by the SMC which is robust against uncertainties and disturbances of parameters for exploiting more transmissible friction force. In addition, the stability of MTTE is analyzed in this paper because an important parameter is neglected in the original MTTE technique. As a result, the stability condition is changed, and the MTTE is modified in the proposed TCS according to the new conclusion. A half four-wheel drive (4WD) EV model is initially built using matlab/simulink. This paper investigates the proposed TCS for various adhesive conditions involving abrupt change in road friction. Compared with the original MTTE technique, the comprehensive performance, particularly the acceleration ability, is significantly improved by the proposed controller. The simulation result validates the effectiveness and robustness of the proposed TCS.

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Figures

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Fig. 1

Dynamic longitudinal model of Micro Harry

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Fig. 2

Typical λ– Fds curves for different road conditions [27]

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Fig. 3

Computed relaxation length characteristics [28]

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Fig. 4

Control schema of the proposed TCS

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Fig. 5

Control schema of MTTE [6]

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Fig. 6

Equivalent control system for robust stability analysis

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Fig. 7

Prototype of modeled EV Micro Harry

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Fig. 8

Simulation with vehicle driving on a road with varying frictions

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Fig. 9

Simulation situation schema

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Fig. 10

Comparison between novel TCS and original MTTE: (a) Front wheel comparison, (b) rear wheel comparison, (c) torque target, (d) longitudinal force Fd, and (e) rear wheel slip ratio control (novel TCS)

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Fig. 11

Analysis of novel TCS robustness to EV mass variation: (a) Novel TCS robustness analysis (mass increases by 400 kg) and (b) novel TCS robustness analysis (mass decreases by 400 kg)

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Fig. 12

Analysis of novel TCS with various sliding gain: (a) Torque target in various sliding gain KSMC and (b) rear wheel slip ratio in various sliding gain KSMC

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