Adaptive controller design for anti-slip system of EV

The design strategy of adaptive controller for antistip system of EV (electric vehicle) is proposed. The proposed system is constructed by preparing both systems of disturbance observer and parameter estimation. The load variation of the tire slip is observed as the equivalent disturbance of motor system by employing the adaptive disturbance observer, and the vehicle speed is estimated. The tire slip is appropriately controlled by means of the feedback of the speed deviation between wheel speed and estimated vehicle speed. It is proved by the numerical simulations that the proposed methods provide satisfactory performance. Furthermore, the practical DC motor experiment set, which can give various slips, is constructed in order to investigate the effect of proposed anti-slip control system. It is verified that the proposed strategy is useful as one approach of anti-slip control.