This paper focuses on controlling traction for a four-wheel electric vehicle by using the longitudinal slip ratio control technique. By keeping the slip ratio value inside an optimal limit, it can be ensured that the maximum driving force is obtainable by increasing the friction force between tire and road. The usefulness of the sliding mode control method is to provide robust performance from the parameter uncertainties at different road conditions. A control law is formulated based upon the Lyapunov stability approach to assure the sliding action. To satisfy the robustness, a vehicle model is made in Matlab, and it is simulated based on various parameter values. The slip ratios at different parameter values are plotted for open loop and closed loop. Then considering the vehicle kinematics and dynamics, a 3D CAD model using Catia is developed. Then exporting the model to Adams to use it as a plant model for the vehicle, co-simulation has been achieved by keeping the slip-based traction controller in Matlab/Simulink. Matlab/Simulink and Adams/View simulation validate the proposed method.

中文翻译：

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基于滑移的电动汽车牵引力控制系统的设计和使用 Adams 和 Matlab/Simulink 之间的联合仿真进行验证

本文重点研究利用纵向滑移率控制技术控制四轮电动汽车的牵引力。通过将滑移率值保持在最佳限度内，可以确保通过增加轮胎与道路之间的摩擦力来获得最大驱动力。滑模控制方法的用处是从不同道路条件下的参数不确定性中提供稳健的性能。基于Lyapunov稳定性方法制定了控制律来保证滑动作用。为了满足鲁棒性，在Matlab中制作了车辆模型，并根据各种参数值对其进行了仿真。为开环和闭环绘制了不同参数值下的滑移率。然后考虑车辆运动学和动力学，使用 Catia 开发了 3D CAD 模型。然后将模型导出到 Adams 以将其用作车辆的植物模型，通过将基于滑动的牵引力控制器保留在 Matlab/Simulink 中实现了协同仿真。Matlab/Simulink 和 Adams/View 仿真验证了所提出的方法。