As one of the motion control methods of electric vehicles (EVs), a driving force controller (DFC) with a slip ratio limiter has been proposed. The conventional controller has a slip ratio limiter for safety reasons, but it does not consider the lateral slip of the tire during cornering. To deal with this problem, this paper proposes a DFC with a variable slip ratio limiter based on brush model. The experimental results show that the proposed controller can work on both acceleration and deceleration cornering, by increasing the lateral force and lateral acceleration for smoother cornering.

中文翻译：

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基于电刷模型的考虑侧滑的驱动力控制器，用于独立四轮驱动电动汽车的牵引力控制

作为电动汽车（EV）的运动控制方法之一，已经提出了具有滑移率限制器的驱动力控制器（DFC）。出于安全原因，常规控制器具有滑移率限制器，但是在转弯过程中并未考虑轮胎的侧向滑移。为了解决这个问题，本文提出了一种基于电刷模型的带可变滑移率限制器的DFC。实验结果表明，所提出的控制器可以通过增加侧向力和横向加速度来实现更平稳的转弯，从而可以同时在加速和减速转弯上工作。