An Anti-Skid Control System Based on the Energy Method for Decentralized Electric Vehicles

Abstract

Anti-slip control, as a fundamental technique of vehicle stability control, prevents loss of control of vehicles, especially under extreme driving conditions. However, current control methods fail to suppress vehicle slippage when steering. Therefore, a new anti-slip control approach for four-wheel independent-drive electric vehicles (EVs) based on the energy method is proposed. This approach makes full use of the distribution of motor energy between the body and the wheels during vehicle turning, being able to adjust the driving torque of each wheel. Simulation results validate that the proposed approach can prevent wheel slip when the vehicle steers on slippery roads. Furthermore, simulations also show that the proposed control strategy can maintain high control performance when the motor flux linkage varies.