Reference Input Wheel Slip Tracking in EVs with BLDC Motors Using Sliding Mode Control
B. Mashadi, M. Majidi 
and P. Ahmadizadeh
Department of Automotive Engineering, Iran Science and Technology University, Tehran, Iran
 Corresponding author; email@example.com
This paper introduces a vehicle wheel slip tracking using an in-wheel BLDC (brushless direct current) motor.
The control objective is to track a reference input wheel slip. The control architecture consists of a two-layer
structure. In the upper level of the control system, the controller design is based on sliding mode control
strategy and generates the required torque for each wheel as the wheel slip is tracking the reference value.
In the lower level, the torque controller is a current controller with the duty cycle of the PWM (pulse
width modulation) pulses to achieve the desired torque demanded by the upper level. In torque controller,
a BLDC motor controller with three-phase inverter is designed using Hall Effect sensor feedback and
current sensors. The design is performed in such a way that the wheel slip tracks any reference input
wheel slip. Simulations are performed to demonstrate the effectiveness of the proposed two-layer controller.
Wheel Slip, BLDC motor, Sliding mode control, Simulation
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