ISBN 9783843956819

978-3-8439-5681-9, Reihe Regelungstechnik

Wolfgang Degel
Scalable Traction Control using Optimal Wheel Slip Estimation for Electric Vehicles

195 Seiten, Dissertation Rheinland-Pfälzische Technische Universität Kaiserslautern-Landau (2025), Softcover, A5

Zusammenfassung / Abstract

The growing number of electric vehicles and the increased use of electric motors is leading to new opportunities and challenges in the development of traction control and anti-lock braking systems. Electric motors enable shorter braking distances and higher accelerations due to their fast dynamics. In order to exploit this potential, it is necessary to develop new control concepts. In this paper, a new integrated and scalable approach for a traction control system is presented. This approach can be applied to various powertrain layouts and consists of a slip control system, a tire force observer, and an estimator for the traction optimum. The slip control system is based on the concept of input-output linearization explicitly considering the actuator dynamics and torsional dynamics of the drivetrain. Furthermore, input-to-state stability is shown for the closed-loop control system. The setpoint for the slip control system is obtained by a tire force observer and an estimator for the tire parameters using Kalman filters to determine the traction optimum. The observability of the system is analyzed for the first time and the dependence on the system excitation and the estimation quality is discussed. The traction control system is investigated in simulation and in two prototype vehicles. The slip control system achieves good steady-state accuracy and disturbance attenuation for different road frictions and driving maneuvers. The tire force observer shows higher bandwidth and improved disturbance attenuation compared to the state of the art. The determination of the traction optimum includes the theoretical results from the observability analysis to find an appropriate excitation improving the estimation performance. The presented approach shows promising results for a traction control system due to the good performance of the slip control system and the estimation of the traction optimum.