Slip Control of Electric Vehicle Based on Tire-Road Friction Coefficient Estimation

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/3035124/figures/3035124.fig.006a.svgz" name="3035124.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Maximum tire-road friction coefficient</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/3035124/figures/3035124.fig.006b.svgz" name="3035124.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Slip ratio</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/3035124/figures/3035124.fig.006c.svgz" name="3035124.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Braking torque</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/3035124/figures/3035124.fig.006d.svgz" name="3035124.fig.006d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Vehicle speed</td></tr><tr class="fig-image" id="e"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/3035124/figures/3035124.fig.006e.svgz" name="3035124.fig.006e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b>Braking distance</td></tr></table>

<div>Simulation results of vehicle braking while road adhesion coefficient is 0.7. Red curve refers to braking torque.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: Slip Control of Electric Vehicle Based on Tire-Road Friction Coefficient Estimation 