Estrategia de estimación de la condición de suelo para el control de tracción en vehículos eléctricos

Design and implementation of a Luenberger nonlinear observer to estimate the road condition in a 4-wheel electric vehicle is presented in this paper. Knowledge of the road condition allows controlling the force transmitted to the road by traction wheels, thus preventing slippage even in low-traction surfaces. This is done to improve vehicle control and prevent loss of stability that may be risky. The proposed observer is based on a rotational dynamic model of the wheel and a Dugoff force model. The proposal is validated by simulation using a full vehicle model on Simulink/CarSim platform.