Current-based wheel slip detection of all-wheel driving vehicle

This paper presents a current-based wheel slip detecting method which can detect longitudinal wheel slip of a all-wheel driving vehicle running on road surface with different friction patches. A multi-mode slippage detection scheme is proposed to judge whether a wheel slippage occurs by detecting the change of the relevant wheel velocity and the change of the driving wheel armature current. A simple predictive control algorithm is also proposed to reduce the effect produced by the wheel slippage. Experimental result is also given to show the effectiveness of the proposed method.