Commenced in January 2007
Paper Count: 30127
Slip Suppression Sliding Mode Control with Various Chattering Functions
Abstract:This study presents performance analysis results of SMC (Sliding mode control) with changing the chattering functions applied to slip suppression problem of electric vehicles (EVs). In SMC, chattering phenomenon always occurs through high frequency switching of the control inputs. It is undesirable phenomenon and degrade the control performance, since it causes the oscillations of the control inputs. Several studies have been conducted on this problem by introducing some general saturation function. However, study about whether saturation function was really best and the performance analysis when using the other functions, weren’t being done so much. Therefore, in this paper, several candidate functions for SMC are selected and control performance of candidate functions is analyzed. In the analysis, evaluation function based on the trade-off between slip suppression performance and chattering reduction performance is proposed. The analyses are conducted in several numerical simulations of slip suppression problem of EVs. Then, we can see that there is no difference of employed candidate functions in chattering reduction performance. On the other hand, in slip suppression performance, the saturation function is excellent overall. So, we conclude the saturation function is most suitable for slip suppression sliding mode control.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1132076Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 598
 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.
 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.
 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.
 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).
 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).
 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.
 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).
 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).
 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.
 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.
 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.
 V. Utkin, Variable Structure Systems with Sliding Modes, IEEE Transactions on Automatic Control, Vol. 22, No. 2, 1977, pp. 212-222.
 V. Utkin, Sliding Modes and Their Applications in Variable Structure Systems, Mir Publishers, USSR, 1978.
 U. M. Ch, Y. S. K. Babu and K. Amaresh, Sliding Mode Speed Control of a DC Motor, Proc. of 2011 International Conference on Communication Systems and Network Technologies, 2011, pp. 387-391.
 K. Nakano, U. Sawut, K. Higuchi and Y. Okajima, Modelling and Observer-based Sliding-mode Control of Electronic Throttle Systems, Transaction on Electrical Engineering, Electronics and Communications, Vol. 4, No. 1, 2006, pp. 22-28.
 Y. Li, J. O. Lee and J. Lee, Attitude Control of the Unicycle Robot Using Fuzzy-sliding Mode Control, Proc. of the 5th International Conference on Intelligent Robotics and Applications, Vol. 3, 2012, pp. 62-72.
 J. E. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall, 1991, USA.
 H. B. Pecejka and E. Bakker, The Magic Formula Tyre Model, Proc. of the 1st International Colloquium on Tyre Models for Vehicle Dynamics Analysis, 1991, pp. 1-18.
 Y. Hori, Simulation of MFC-Based Adhesion Control of 4WD Electric Vehicle, IEEJ Record of Industrial Measurement and Control, Vol. IIC-00, No. 1-23, 2000, pp. 67-72 (in Japanese).