Longitudinal Anti-skid Control Of Electric Vehicle Based On Kalman Filter And ADRC

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Abstract
In order to realize the longitudinal anti-skid control of electric vehicle under the condition of low adhesion road, Kalman filter method is used to estimate longitudinal speed of electric vehicle which is a necessary information for vehicle longitudinal anti-skid control. Based on the LuGre tire model, the longitudinal dynamic model of the vehicle is established. In addition, Active Disturbance Rejection Controller(ADRC) is designed to realize the traction control of the electric vehicle for its good performance to suppress the influence of parameter uncertainty and unknown disturbance. Assuming that the pavement conditions are known, the maximum torque allowed for the motor output are estimated. In order to prevent excessive driving force resulting in vehicle slip and energy loss, the output torque is limited by dynamic saturation nonlinear control. Finally, the simulation results show that Kalman filter can estimate the longitudinal velocity accurately, and under the action of active disturbance rejection control and dynamic saturation nonlinear control, the safety and stability of electric vehicle longitudinal driving are improved and the loss of drive energy is reduced. What's more, the comparisons of simulation results of ADRC and PID controller show that ADRC performs better in suppressing the influence of parameter uncertainty and unknown disturbance.