Traction control of an electric vehicle based on nonlinear observers

[ES] En este trabajo se propone una estrategia de control de tracción para un vehículo eléctrico de cuatro ruedas, basada en observadores no lineales que permiten estimar la fuerza máxima que se puede transferir al suelo. El conocimiento de la fuerza máxima permite realizar un control del deslizamiento de los neumáticos de tracción, evitando que las ruedas patinen aún en superficies de baja adherencia. La estrategia propuesta permite además evitar que se produzca un momento de guiño no deseado en el vehículo cuando las condiciones de suelo a cada lado del mismo son diferentes. Con ello se logra mejorar la eficiencia y el control del vehículo, evitando posibles pérdidas de estabilidad que pueden resultar en riesgos para sus ocupantes. Tanto el observador como el control propuestos son diseñados en base a un modelo dinámico rotacional de la rueda y un modelo de fuerzas de brush. Se presentan resultados de simulación obtenidos empleando un modelo completo de vehículo sobre la plataforma Simulink/CarSim.[EN] A traction control strategy for a four-wheel electric vehicle is proposed in this paper. The strategy is based on nonlinear observers which allows estimating the maximum force that can be transmitted to the road. Knowledge of the maximum force allows controlling the slip of the driving wheels, preventing the wheel’s slippage in low-grip surfaces. The proposed strategy also allows to avoid the undesired yaw moment in the vehicle which occurs when road conditions on either side of it are dierent. This improves the eciency and the control of the vehicle, avoiding possible losses of stability that can result in risks for its occupants. Both the proposed observer and the control strategy are designed based on a dynamic rotational model of the wheel and a brush force model. Simulation results are obtained based on a complete vehicle model on the Simulink/CarSim platform.Este trabajo fue financiado por la Universidad Nacional de Rıo Cuarto, FONCyT-ANPCyT (Subsidio PICT-2014-2760) y CONICET (Subsidio PIP 2014-2016 GI 11220130100517CO).Aligia, DA.; Magallán, GA.; De Angelo, CH. (2017). Control de Tracción para un Vehículo Eléctrico basado en Observadores no Lineales. Revista Iberoamericana de Automática e Informática industrial. 15(1):112-123. https://doi.org/10.4995/riai.2017.8736OJS112123151Baet, G., Charara, A., Dherbomez, G., 2007. An observer of tire-road forcesand friction for active security vehicle systems. IEEE/ASME Transactionson Mechatronics 12 (6), 651-661.Biagiola, S., Solsona, J., 2006. State estimation in batch processes using a non-linear observer. Mathematical and Computer Modelling 44 (11-12), 1009-1024. https://doi.org/10.1016/j.mcm.2006.03.005Changsun, A., Huei, P., Tseng, H. E., 2013. Robust estimation of road frictional coefficient. 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