{"title":"Slip Suppression of Electric Vehicles using Model Predictive PID Controller","authors":"Tohru Kawabe","volume":67,"journal":"International Journal of Electrical and Information Engineering","pagesStart":649,"pagesEnd":655,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/13878","abstract":"In this paper, a new model predictive PID controller\ndesign method for the slip suppression control of EVs (electric\nvehicles) is proposed. The proposed method aims to improve the\nmaneuverability and the stability of EVs by controlling the wheel\nslip ratio. The optimal control gains of PID framework are derived\nby the model predictive control (MPC) algorithm. There also include\nnumerical simulation results to demonstrate the effectiveness of the\nmethod.","references":"[1] S. Brown, D. Pyke and P. Steenhof, \"Electric vehicles: The role and\nimportance of standards in an emerging market\", Energy Policy, Vol.38,\nIssue 7, 2010, pp. 3797-3806.\n[2] H. Mousazadeh, A. Keyhani, H. Mobli, U. Bardi, G. Lombardi and T.\nAsmar, \"Environmental assessment of RAMseS multipurpose electric\nvehicle compared to a conventional combustion engine vehicle \",\nJournal of Cleaner Production, Vol.17, Issue 9, 2009, pp. 781-790.\n[3] T. Hirota, M. Ueda and T. Futami, \"Activities of Electric Vehicls and\nProspect for Future Mobility\", Journal of The Society of Instrument and\nControl Enginnering , Vol.50, 2011, pp. 165-170 (in Japanese).\n[4] K. Kondo, \"Technological Overview of Electric Vehicle Traction\",\nJournal of The Society of Instrument and Control Enginnering (in\nJapanese), Vol.50, 2011, pp. 171-177.\n[5] A.T. Zanten, R. Erhardt and G. Pfaff, \"VDC; The Vehicle Dynamics\nControl System of Bosch\", Proc. Society of Automotive Engineers\nInternational Congress and Exposition, 1995, Paper No. 950759.\n[6] K. Kin, O. Yano and H. Urabe, Enhancements in Vehicle Stability and\nSteerability with VSA, Proc. JSME TRANSLOG 2001, 2001, pp.407-\n410 (in Japanese).\n[7] K. Sawase, Y. Ushiroda and T. Miura, Left-Right Torque Vectoring Technology\nas the Core of Super All Wheel Control (S-AWC), Mitsubishi\nMotors Technical Review , No.18, 2006, pp.18-24 (in Japanese).\n[8] S. Kodama, L. Li and H. Hori, \"Skid Prevention for EVs based on the\nEmulation of Torque Characteristics of Separately-wound DC Motor\",\nProc. The 8th IEEE International Workshop on Advanced Motion\nControl , VT-04-12, 2004, pp.75-80.\n[9] M. Mubin, S. Ouchi, M. Anabuki and H. Hirata, Drive Control of\nan Electric Vehicle by a Non-linear Controller, IEEJ Transactions on\nIndustry Applications , Vol.126, No.3, 2006, pp.300-308 (in Japanese).\n[10] K. Fujii and H. Fujimoto, \"Slip ratio control based on wheel control\nwithout detection of vehicle speed for electric vehicle\", IEEJ Technical\nMeeting Record, VT-07-05, 2007, pp.27-32 (in Japanese).\n[11] K.J. A\u252c\u2591 stro\u252c\u00bfm and T. Hagglund, \"Advanced PID Control\", The Instrumentation,\nSystems, and Automation Society, 2005.\n[12] A. O-Dwyer, \"Handbook of PI and PID controller tuning rules\",\nImperial College Press, 2006.\n[13] J.M. Maciejowski, Predictive Control with Constraints, (Trans. by\nAdachi,S. and Kanno,M.), Tokyo Denki University Press, 2005 (in\nJapanese).\n[14] E. F. Camacho and C. Bordons, \"Model Predictive Control (Advanced\nTextbooks in Control and Signal Processing) \", Springer-Verlag, 2004.\n[15] L. del Re, F. Allg\u252c\u00bfower, L. Glielmo, C. Guardiola, I. Kolmanovsky, \"Automotive\nModel Predictive Control: Models, Methods and Applications\n(Lecture Notes in Control and Iinformation Sciences) \", Springer-Verlag,\n2010.\n[16] A. Bemporad, M. Morari, C. Dua and E.N. Pistikopoulos, \"The explicit\nlinear quadratic regulator for constrained systems\", Automatica, Vol.38,\nNo.1, 2000, pp.3-20.\n[17] H.B. Pacejka and E. Bakker, \"The Magic Formula Tyre Model\", Vehicle\nsystem dynamics, Vol.21, 1991, pp.1-18.\n[18] Y. Hori,Y, Simulation of MFC-Based Adhesion Control of 4WD\nElectric Vehicle, IEEJ Record of Industrial Measurement and Control ,\nIIC-00-12, 2000 (in Japanese).","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 67, 2012"}