Glidkontroll för elektriskt fordon utan mätning av fordonshastiget

Sammanfattning

The aim of this Master Thesis was to develop an anti-slip controller for a small single person electric vehicle to prevent slipping during acceleration. Due to limited space on the vehicle it is not possible to fit sensors for measuring the vehicle’s speed, and thus the traditional way of calculating slip by comparing wheel and vehicle speed is not possible. Another difficulty was the fact that the vehicle does not have pneumatic tires and well established tyre models were not applicable for calculating frictional forces. Instead a simpler dynamic system was designed comparing the motor torque in and the wheel acceleration out. The controller was implemented and tested on a real prototype and shows promising results.