Optimal slip based traction control for electric vehicles using feedback linearization

Abstract

Wheel skidding or spinning is dangerous for driving vehicles, and compared to conventional vehicles, electric vehicles are more easily to slip during driving on slippery road. In this paper, a novel traction control method based on wheel-slip control is proposed to improve the safety and stability of electric vehicles. Considering the high nonlinearity and uncertainties of the traction system, this paper takes use of the feedback linearization methodology to design a nonlinear controller to achieve the tracking control for wheel slip. Meanwhile, to enhance the robustness of the controller, a integral action is introduced. As the controlled variable, the desired value of the wheel slip is required in the traction control system, this paper adopts the so-called Burckhardt's model to make online calculation for it. In order to demonstrate the effectiveness of the proposed method, simulations were conducted in different road conditions, and all the simulation results showed that the wheel-slip controller could produce a fairly good control performance.