Automatic Rotor Speed Reference Generator for Electric Vehicles Under Slip Constraints

A new speed reference generator for electric vehicles with fixed transmission gear ratio powered by centralized electric motors is presented. On the basis of a contraction mapping algorithm and without requiring any a priori knowledge of the external conditions, a sequence of speed reference values is provided. They converge to a steady-state operating point with a safe tire longitudinal slip. CarSim simulations illustrate the effectiveness of the proposed approach, even in the presence of uncertain parameters and complex vehicle dynamics, which are neglected in the control design.