Abstract
In order to improve the driving performance of electric vehicles with in-wheel motors, we have proposed a traction control system adaptive to road conditions. The feedback gain and the time constant of the control system are adaptively adjusted by the estimated slip ratio and friction coefficient during driving. The simulation and the pre-experimental results demonstrated that the control system achieves high acceleration performance in normal road conditions, as well as restrains wheel slip on slippery roads. This paper, applying the proposed system to the experimental electric vehicle, reports the experimental results of anti-slip control on slippery road surface. In addition, about the estimation error of slip ratio, we discussed its influence on slip restraint performance.
