MPC-based Slip Control System for In-wheel-motor Drive EV

A new slip control system for electric vehicles (EVs) equipped with four in-wheel motors is presented in this paper to solve the problem of the risk of locking up of EV wheels on brakes. This controller is designed on the basis of a model predictive control (MPC) scheme. Thus, the proposed MPC slip controller guarantees the optimal braking torque on each wheel by individually controlling the slip ratio of each tire within the stable zone over a considerably shortened response time. The wheel slip control performance is improved given the shortened response of the regenerative braking system. Theoretical analyses and simulation show that the proposed controller delivers an effective antilock performance.