DESIGN OF ANTISLIP CONTROLLER FOR AN （防滑控制器的设计）.pdf

Asian Journal of Control, Vol. 8, No. 3, pp. 261-267, September 2006 261 －Brief Paper － DESIGN OF ANTI-SLIP CONTROLLER FOR AN ELECTRIC VEHICLE WITH AN ADHESION STATUS ANALYZER BASED ON THE EV SIMULATOR Lianbing Li, Shinya Kodama, and Yoichi Hori ABSTRACT The In this paper, a simulator of a one-wheel Electric Vehicle system is designed for testing an anti-slip controller using the Motor-Generator sys- tem. The drive motor of the M-G system is used to simulate the drive wheel of the Electric Vehicle, and the load motor is used to simulate the load force of the chassis. In the driving process, the torque of the load motor is changed according to the drive force of the chassis that is calculated by the program. So it can simulate the dynamic process of the tire-road system. Based on this simulator system, an anti-slip controller based on an Adhesion Status Analyzer is proposed. Information about the wheel speed is acquired by using a Back EMF Observer. A load torque disturbance observer is de- signed to stabilize the acceleration of the wheels. The Adhesion Status Analyzer is used to generate safe acceleration commands for the anti-slip controller. When a slip occurs, the anti-slip controller will decrease the