Traction Control of Electric Vehicle University （电动汽车大学的牵引力控制系统）.pdf

Traction Control of Electric Vehicle -Basic Experimental Results using the Test EV UOT Electric March- Yoichi Hori, Yasushi Toyoda and Yoshimasa Tsuruoka Department of Electrical Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo 113, JAPAN Tel: +81-3812-2111 ext.7680, Fax: +81-3-5800-3865 E-mail: hori@hori.t.u-tokyo.ac.jp Abstract : The most distinct advantage of electric vehicle is its quick and precise torque generation. However, most electric vehicles developed until now have not yet utilized it. In this paper, two novel traction control techniques of electric vehicle using this advantage are proposed. One is the model following control and another is the optimal slip ratio control. The basic effectiveness of the proposed methods is demonstrated by real experiments using the DC motor driven test vehicle UOT (University of Tokyo) Electric March. Keywords : electric vehicle, motion control, traction control, ABS, model following control, slip ratio control, estimation, robust control, road condition estimation I. INTRODUCTION Recently a lot of electric vehicles (EV) have been developed [1] mainly to solve environmental and energy problems caused by the use of internal combustion engine vehicles (ICV). Some of them already have enough performance even in practical use. However, they have not yet utilized the most remarkable advantage of EV. The generated torque of electric motors can be controlled much more quickly and precisely than that of internal combustion engines.[13] It is well known that the adhesion characteristics between tire and road surface are greatly affected by the control of traction