Novel estimation of tyre-road friction coefficient and slip ratio using electrical parameters of traction motor for electric vehicles

The estimation of the friction coeffi cient and the slip ratio is crucial for advanced traction control or anti-brake control of electric vehicles. In this paper, dynamic behaviours of electrical parameters of the traction motor under road change are modelled and analysed. Novel estimation only using the measurements of the armature voltage and the current is proposed. The proposed method is much quicker than traditional methods, contributing to adjust the vehicle’s motion state more quickly and precisely. Further, it can eliminate the speed measuring devices of the wheel speed and the vehicle speed. Simulations verify the effectiveness.

[1]  Yoichi Hori,et al.  A Novel Traction Control for EV Based on Maximum Transmissible Torque Estimation , 2009, IEEE Transactions on Industrial Electronics.

[2]  Hiroshi Fujimoto,et al.  Slip ratio estimation and regenerative brake control without detection of vehicle velocity and acceleration for electric vehicle at urgent brake-turning , 2010, 2010 11th IEEE International Workshop on Advanced Motion Control (AMC).

[3]  Laura Ryan Ray,et al.  Nonlinear state and tire force estimation for advanced vehicle control , 1995, IEEE Trans. Control. Syst. Technol..

[4]  N. Takahashi,et al.  Vehicle stability control of electric vehicle with slip-ratio and cornering stiffness estimation , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.

[5]  Wei-Yen Wang,et al.  Dynamic slip ratio estimation and control of antilock braking systems considering wheel angular velocity , 2007, 2007 IEEE International Conference on Systems, Man and Cybernetics.

[6]  Y. Hori,et al.  Recent development of road condition estimation techniques for electric vehicle and their experimental evaluation using the test EV "UOT March and I and II" , 2003, IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468).

[7]  Chen Hong.  Approach to Nonlinear Estimation of Vehicle State , 2009 .

[8]  Masayoshi Tomizuka,et al.  Adaptive vehicle traction force control for intelligent vehicle highway systems (IVHSs) , 1996, IEEE Trans. Ind. Electron..

[9]  B Breuer,et al.  Measurement of tyre/road-friction ahead of the car and inside the tyre , 1992 .

[10]  U Eichhorn,et al.  PREDICTION AND MONITORING OF TYRE/ROAD FRICTION , 1992 .

[11]  Yoichi Hori,et al.  Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march II" , 2004, IEEE Transactions on Industrial Electronics.

[12]  Zhiyuan Liu,et al.  Design of a Nonlinear Observer for Vehicle Velocity Estimation and Experiments , 2011, IEEE Transactions on Control Systems Technology.

[13]  M. Tomizuka,et al.  Appropriate Sensor Placement for Fault-Tolerant Lane-Keeping Control of Automated Vehicles , 2007, IEEE/ASME Transactions on Mechatronics.

[14]  Hans B. Pacejka,et al.  A New Tire Model with an Application in Vehicle Dynamics Studies , 1989 .

[15]  H. Fujimoto,et al.  Traction Control based on Slip Ratio Estimation Without Detecting Vehicle Speed for Electric Vehicle , 2007, 2007 Power Conversion Conference - Nagoya.

[16]  計測自動制御学会,et al.  AMC '96-Mie : 1996 4th International Workshop on Advanced Motion Control : proceedings, March 18-21, 1996, Mie University, Tsu-City, Mie-Pref., Japan , 1996 .

[17]  J D Turner,et al.  Sensors for automotive telematics , 2000 .

[18]  J. Karl Hedrick,et al.  Vehicle Speed Estimation Using Accelerometer and Wheel Speed Measurements , 2002 .

[19]  S. Glaser,et al.  Vehicle lateral dynamics estimation using unknown input proportional-integral observers , 2006, 2006 American Control Conference.

[20]  Volkan Cevher,et al.  Vehicle Speed Estimation Using Acoustic Wave Patterns , 2009, IEEE Transactions on Signal Processing.

[21]  Kyongsu Yi,et al.  Tire-Road Friction-Coefficient Estimation , 2010, IEEE Control Systems.

[22]  Yoichi Hori,et al.  Traction control of electric vehicle: basic experimental results using the test EV "UOT electric march" , 1998 .

[23]  Tor Arne Johansen,et al.  Vehicle velocity estimation using nonlinear observers , 2006, Autom..

[24]  Zhang Jing,et al.  Notice of RetractionOptimal slip ratio estimation using Local Polynomial Fitting , 2010, 2010 International Conference on Computer Application and System Modeling (ICCASM 2010).

[25]  Shin-ichiro Sakai,et al.  Anti-skid control with motor in electric vehicle , 2000, 6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494).

[26]  S. Yoda,et al.  Road surface recognition sensor using an optical spatial filter , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[27]  Rajesh Rajamani,et al.  Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients , 2012 .

[28]  Yutaka Hori,et al.  Implementation of advanced adhesion control for electric vehicle , 1996, Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE.

[29]  M. Scarano,et al.  "Single Wheel" longitudinal traction control for electric vehicles , 2006, IEEE Transactions on Power Electronics.

[30]  Reza Kazemi,et al.  Real-time estimation of vehicle state and tire-road friction forces , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[31]  Christopher M. Bingham,et al.  Application of fuzzy control algorithms for electric vehicle antilock braking/traction control systems , 2003, IEEE Trans. Veh. Technol..

[32]  Y. Hori,et al.  Skid prevention for EVs based on the emulation of torque characteristics of separately-wound DC Motor , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..