The design of TCS controller for four wheel independent-drive electric vehicle based on ADRC

In order to prevent the electric vehicle wheels from spinning out on low-friction coefficient [low-μ] roads, the electric vehicle traction control system (TCS) based on active disturbance rejection control (ADRC) is carried out in this paper. Firstly, we set an optimal longitudinal slip ratio as the control target, and consider the motor current and load torque as internal and external disturbance, which can be respectively observed by extended state observer. Secondly, design the electric vehicle TCS system in simulink by using the second order ADRC controllers. Besides, apply the advanced simulation software AMESim to build the four wheel independent-drive electric vehicle model with in-wheel motor structure. Then build the co-simulation model using AMESim and simulink, and adjust the parameters of the ADRC controller and electric vehicle model. Finally, we run the simulation on both the straight and steering low-μ road conditions and verify the effectiveness of the control algorithm.