Acceleration Slip Regulation for Electric Vehicles Based on Fuzzy PID Controller

Abstract

This paper proposes an acceleration slip regulation (ASR) by the fuzzy PID (FPID) controller for electric vehicles with four-wheel independent motor drive. The ASR architecture is hierarchically presented by three layers. The upper layer determines the total traction force based on the control of vehicle velocity. The middle layer determines optimum tire longitudinal force distribution depending on the total tire workload. In case of wheel slip, the optimum longitudinal force will be adjusted by the FPID controller. In the lower layer, the traction forces are converted to reference torque for each powertrain. The modeling and control organization of the studied vehicle are presented by using energetic macroscopic representation (EMR). Simulation tests show that ASR with FPID controller can limit the slip ratio of the wheels and improve the vehicle stability.