This paper proposes a novel traction control system (TCS) based on feedback sensing of multi-state of electric scooters (i.e. vehicle-road inclination, vehicle yaw rate, vehicle lateral force, vehicle slip, vehicle speed, etc.). The real-time states of the scooter are measured by a Hall sensor at the rear wheel, a photointerrupter at the front wheel and inertial measurement unit at the center-of-gravity of the vehicle. A fuzzy logic based traction control design is developed to against the driving wheel drift or slipping. The controller is realized by an advanced digital signal processor for fast command computation. Our design has been successfully applied in a commercial electric scooter with satisfactory performance for the pre-specified testing items. Real-world experiments prove feasibility of the proposed design which show that our design can effectively prevent the electric scooter from slipping while improves riding safety.

中文翻译：

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电动滑板车的高级稳定控制

本文提出了一种基于电动滑板车多状态（即车路倾斜度、车辆横摆率、车辆侧向力、车辆滑移、车速等）反馈感知的新型牵引力控制系统（TCS）。踏板车的实时状态由后轮的霍尔传感器、前轮的光遮断器和车辆重心的惯性测量单元测量。开发了一种基于模糊逻辑的牵引力控制设计，以防止驱动轮漂移或打滑。控制器由先进的数字信号处理器实现，用于快速命令计算。我们的设计已成功应用于商用电动滑板车，对预先指定的测试项目具有令人满意的性能。