MP-SMC-I Method for Slip Suppression of Electric Vehicles under Braking

Authors: Tohru Kawabe

Abstract:

In this paper, a new SMC (Sliding Mode Control) method with MP (Model Predictive Control) integral action for the slip suppression of EV (Electric Vehicle) under braking is proposed. The proposed method introduce the integral term with standard SMC gain , where the integral gain is optimized for each control period by the MPC algorithms. The aim of this method is to improve the safety and the stability of EVs under braking by controlling the wheel slip ratio. There also include numerical simulation results to demonstrate the effectiveness of the method.

Keywords: Sliding Mode Control, Model Predictive Control, Integral Action, Electric Vehicle, Slip suppression.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1108388

References:

[1] A.G. Mamalis, K.N. Spentzas and A.A. Mamali, The Impact of Automotive Industry and Its Supply Chain to Climate Change: Somme Techno-economic Aspects, European Transport Research Review, Vol.5, No.1, 2013, pp.1–10.
[2] S. Brown, D. Pyke and P. Steenhof, Electric vehicles: The role and importance of standards in an emerging market, Energy Policy, Vol.38, Issue 7, 2010, pp. 3797–3806.
[3] H. Tseng and J.S. Wu and X. Liu, Affordability of Electric Vehicle for a Sustainable Transport System: An Economic and Environmental Analysis, Energy Policy, Vol.61, 2013, pp.441–447.
[4] A.T. Zanten, R. Erhardt and G. Pfaff, VDC; The Vehicle Dynamics Control System of Bosch, Proc. Society of Automotive Engineers International Congress and Exposition, 1995, Paper No. 950759.
[5] K. Kin, O. Yano and H. Urabe, Enhancements in Vehicle Stability and Steerability with VSA, Proc. JSME TRANSLOG 2001，2001, pp.407–410 (in Japanese).
[6] K. Sawase, Y. Ushiroda and T. Miura, Left-Right Torque Vectoring Technology as the Core of Super All Wheel Control (S-AWC), Mitsubishi Motors Technical Review , No.18, 2006, pp.18–24 (in Japanese).
[7] S. Kodama, L. Li and H. Hori, Skid Prevention for EVs based on the Emulation of Torque Characteristics of Separately-wound DC Motor, Proc. The 8th IEEE International Workshop on Advanced Motion Control , VT-04-12, 2004, pp.75–80.
[8] M. Mubin, S. Ouchi, M. Anabuki and H. Hirata, Drive Control of an Electric Vehicle by a Non-linear Controller, IEEJ Transactions on Industry Applications , Vol.126, No.3, 2006, pp.300–308 (in Japanese).
[9] K. Fujii and H. Fujimoto, Slip ratio control based on wheel control without detection of vehicle speed for electric vehicle”, IEEJ Technical Meeting Record, VT-07-05, 2007, pp.27–32 (in Japanese).
[10] S. Li, K. Nakamura, T. Kawabe and K. Morikawa, A Sliding Mode Control for Slip Ratio of Electric Vehicle, Proc. of SICE Annual Conference 2012, pp.1974–1979.
[11] T. Kawabe, Y. Kogure, K. Nakamura, K. Morikawa and Y. Arikawa, Traction Control of Electric Vehicle by Model Predictive PID Controller, Transaction of JSME Series C, Vol. 77, No. 781, pp. 3375–3385 (in Japanese).
[12] I. Eker and A. Akinal, Sliding Mode Control with Integral Augmented Sliding Surface: Design and Experimental Application to an Electromechanical system, Electrical Engineering, Vol.90, 2008, pp.189–197.
[13] S. Li and T. Kawabe, Slip Suppression of Electric Vehicles Using Sliding Mode Control Method, International Journal of Intelligent Control and Automation, Vol.4, No.3, 2013, pp.327–334.
[14] J.M. Maciejowski, Predictive Control with Constraints, (Trans. by Adachi,S. and Kanno,M.), Tokyo Denki University Press, 2005 (in Japanese).
[15] H.B. Pacejka and E. Bakker, “The Magic Formula Tyre Model”, Vehicle system dynamics, Vol.21, 1991, pp.1–18.