Development and simulation of a traction control system using individual motor direct torque control techniques for a formula SAE electric racing vehicle

Independent-drive electric vehicles represent an advanced approach to vehicle dynamic control. The main feature of these systems is that they use traction motors that are independently connected to each wheel. This results in a shorter driveline, higher transmission efficiency, more compact packaging, and better utilisation of space. Combined with the torque information produced by electric traction motors, an independent-drive electric vehicle system is capable of performing traction control, antilock braking control and electronic power steering. Traction control is also an effective strategy to control longitudinal vehicle dynamics that functions by preventing the wheels from slipping while driving. It has potential for optimising vehicle dynamics during frequent acceleration and takeoff. Since the late 1990s, there have been several studies regarding traction control for fully electric motor drive vehicles. These studies have investigated traction control systems based on fuzzy methods, rule-based control, slidingmode control, Proportional–Integral–Derivative control and modification, optimal linearisation control and model-based control. A further distinction can be made between torque-based control, slip-based control and systems that combine both. Nevertheless, most of the existing studies of torque-based traction control have been investigated only in simulation. Further, since 2012, only four studies have focused on designing an electric motor controller with an embedded traction control algorithm. The aim of this project is to understand and develop a traction control system that can be used for the future University of Tasmania Formula SAE electric racing vehicle. Following the guidelines of the Formula SAE rules, the vehicle will be an 80 kW, 600 V peak, rear-wheel drive, open-wheel formula race vehicle