抄録
Slippage of an automobile often occurs during acceleration and braking. As a result, travel performance is adversely affected, since the gripping force of the tires on the road surface is lost. In this paper, we propose a traction control system design method by using the model-following sliding mode control, in which we consider the friction coefficient between the road surface and the tires as an uncertainty in the controlled object. Generally, car-body speed must be known for traction control of an automobile, but it is impossible to detect car-body speed in an automobile system. In this paper, we performed simulations using the speed estimated by a disturbance observer, in which the road surface friction coefficient μ was considered as a torque disturbance. We confirmed that the control system has good performance in simulations.
