Abstract
In this paper, a driving force observer based sliding mode controller is designed to achieve optimal wheel slip control for electric vehicles. Sliding mode control techniques have widely been employed in the development of a robust wheel slip controller of conventional internal combustion engine vehicles due to its application effectiveness in nonlinear systems and robustness on model uncertainties and disturbances. A practical slip control system which takes advantage of the features of electric motors is proposed and a novel fuzzy algorithm for vehicle velocity estimation is introduced. The vehicle velocity estimation is based on driving wheel’s velocity with acceleration limiters. The simulations and experiments are carried out by an experimental electric vehicle to verify the proposed slip control algorithm and vehicle velocity estimator.
Keywords: Electric vehicles, Driving force observer, Sliding mode control, Vehicle velocity estimation, Acceleration limiter