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6 CONCLUSIONS
This paper proposes new SMC method with the in-
tegral action for EV traction control. The method
can improve the robust performance of EV traction
by controlling the slip ratio with low energy con-
sumption against the variation of mass of vehicle and
road conditions. We can verified that the the pro-
posed method shows good robust performance with
low energy consumption by comparing to conven-
tional method.
As future works, in this paper, the gain K
i
of in-
tegral action added in the sliding function was deter-
mined by trial and error, so it is necessary to develop
a systematic method to find the optimal value of K
i
.
Moreover, this paper was limited to showing the re-
sults with some example conditions using a simpli-
fied one wheel model, but to make the method practi-
cal, for a variety of road conditions and mass of vehi-
cle must be verified for more detailed two-wheel and
four-wheel models. In addition, the suitability of the
proposed method must be studied not only for the slip
suppression addressed by this paper but also for over-
all driving including during braking.
Even for this issue, however, the basic framework
of the proposed method can be used as is and can also
be extended relatively easily to form a foundation for
making practical high performed robust traction con-
trol systems with low energy consumption for EVs by
promoting further progress.
ACKNOWLEDGEMENTS
This research was partially supported by Grant-
in-Aid for Scientific Research (C) (Grant number:
24560538; Tohru Kawabe; 2012-2014) from the Min-
istry of Education, Culture, Sports, Science and Tech-
nology of Japan.
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