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

Authors: Guoqing Xu; Kun Xu; Weimin Li

Addresses: Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, China; Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China ' Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China ' Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China

Abstract: The estimation of the friction coefficient 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.

Keywords: electric vehicles; load current; estimation; slip ratio; tyre-road friction coefficient; electrical parameters; traction motors; traction control; anti-brake control; road changes; modelling; motion control; armature voltage; vehicle control; simulation.

DOI: 10.1504/IJVAS.2013.053784

International Journal of Vehicle Autonomous Systems, 2013 Vol.11 No.2/3, pp.261 - 278

Received: 05 Aug 2011
Accepted: 25 Dec 2011

Published online: 09 May 2013 *

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