Anti-slip regulation of electric vehicle without speed sensor

In order to research the anti-slip regulation (ASR) of electric vehicle(EV), this paper analyzes the operating principle and control strategy of electric vehicle's ASR, builds the motion model of the EV and vehicle dynamics model including the tyre, the wheel and the model between the tyre and the road. The traditional ASR structure is complex. In order to solve the problem, a novel anti-slip controller for EV without speed sensor is designed to prevent the slip between tyre and road. A back electromotive force (back-EMF) observer is constructed to acquire the information of speed as well as acceleration. By selecting the time constant or observer gain properly, the current command reduction characteristics can be adjusted freely in some range. The results of simulation and experiment verified the effectiveness of the proposed controller, which can prevent the driven wheels skidding, improve the traction performance, enhance the driving performance and the stability of EV, and avoid the occurrence of traffic accident. The anti-slip control for EV without speed sensor is an ideal anti-slip regulation method.