Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31435
Slip Suppression of Electric Vehicles using Model Predictive PID Controller

Authors: Tohru Kawabe


In this paper, a new model predictive PID controller design method for the slip suppression control of EVs (electric vehicles) is proposed. The proposed method aims to improve the maneuverability and the stability of EVs by controlling the wheel slip ratio. The optimal control gains of PID framework are derived by the model predictive control (MPC) algorithm. There also include numerical simulation results to demonstrate the effectiveness of the method.

Keywords: Model Predictive Control, PID controller, Electric Vehicle, Slip suppression

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2136


[1] 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.
[2] H. Mousazadeh, A. Keyhani, H. Mobli, U. Bardi, G. Lombardi and T. Asmar, "Environmental assessment of RAMseS multipurpose electric vehicle compared to a conventional combustion engine vehicle ", Journal of Cleaner Production, Vol.17, Issue 9, 2009, pp. 781-790.
[3] T. Hirota, M. Ueda and T. Futami, "Activities of Electric Vehicls and Prospect for Future Mobility", Journal of The Society of Instrument and Control Enginnering , Vol.50, 2011, pp. 165-170 (in Japanese).
[4] K. Kondo, "Technological Overview of Electric Vehicle Traction", Journal of The Society of Instrument and Control Enginnering (in Japanese), Vol.50, 2011, pp. 171-177.
[5] 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.
[6] 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).
[7] 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).
[8] 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.
[9] 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).
[10] 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).
[11] K.J. A° stro¨m and T. Hagglund, "Advanced PID Control", The Instrumentation, Systems, and Automation Society, 2005.
[12] A. O-Dwyer, "Handbook of PI and PID controller tuning rules", Imperial College Press, 2006.
[13] J.M. Maciejowski, Predictive Control with Constraints, (Trans. by Adachi,S. and Kanno,M.), Tokyo Denki University Press, 2005 (in Japanese).
[14] E. F. Camacho and C. Bordons, "Model Predictive Control (Advanced Textbooks in Control and Signal Processing) ", Springer-Verlag, 2004.
[15] L. del Re, F. Allg¨ower, L. Glielmo, C. Guardiola, I. Kolmanovsky, "Automotive Model Predictive Control: Models, Methods and Applications (Lecture Notes in Control and Iinformation Sciences) ", Springer-Verlag, 2010.
[16] A. Bemporad, M. Morari, C. Dua and E.N. Pistikopoulos, "The explicit linear quadratic regulator for constrained systems", Automatica, Vol.38, No.1, 2000, pp.3-20.
[17] H.B. Pacejka and E. Bakker, "The Magic Formula Tyre Model", Vehicle system dynamics, Vol.21, 1991, pp.1-18.
[18] Y. Hori,Y, Simulation of MFC-Based Adhesion Control of 4WD Electric Vehicle, IEEJ Record of Industrial Measurement and Control , IIC-00-12, 2000 (in Japanese).