Article A Novel Anti-Lock Braking System for Electric Vehicles

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1 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v Article A Novel Anti-Lock Brking Syste for Electric Vehicles Chi-Hung Tu, Chun-Ling Lin *, Meng-Yo Yng nd En-Ping Chen Deprtent of Electricl Engineering, Ntionl Chung Hsing University, Tichung 4, Tin; lex98363@hotil.co (C.-H.T.); cbr98@hotil.co (M.-Y.Y.); s885@yhoo.co.t (E.-P.C.) * Correspondence: chunlin@drgon.nchu.edu.t; Tel.: (ext. 78) Abstrct: Recently, design of electric scooters (ESs) hs coonly dopted brushless DC otors (BLDCMs) in plce of brushed DC otors. This invention develops ne nti-lock brking syste (ABS), bsed on slip-rtio estitor, for ES utilizing the brking force generted by the BLDCM hen electricl energy releses to the lod yielding n nlogous effect of ABS control in gs-engine vehicles. Copring to echnicl ABS, the design possesses the dvntges of rpid torque responses due to fst ctuting response. The electricl ABS is relized by ssociting ith kinetic nd Short-circuit brking. A current controller is used to djust the brking force, hile the sliding ode control strtegy is dopted to regulte the slip rtio for best rod dhesion hile brking. Rel-orld experients hve been conducted for functionl nd perfornce verifiction. Keyords: electricl vehicle; nti-lock brking syste (ABS); regenertive brke; control. Introduction The coon reserch issues in electric vehicles (EVs) ostly focus on the bttery energy ngeent []. As it is the jor issue to effectively extend endurnce of EVs during on-rod riding or driving. Less reserch tsks ly in the issue of sfety such s vehicle brking control. When vehicle is brking under criticl conditions, such s it encountered ith et or slippery rod surfces or istkes coitted by drivers, usully leds to heel lock king the vehicle out of control. Therefore, preventing heel locking-up during the eergent brking process is extreely iportnt nd nti-lock brking syste (ABS) hs been becoing stndrd equipent in the odern gsoline-poered vehicles. Regrding the ABS ith dvnced control technologies, there re vrious design pproches those cn be used to iprove the perfornce of ABS, such s sliding ode control [, 3], fuzzy logic control [4, 5], dptive control [6], genetic neurl control [7], etc. The reson for dopting brushless DC otors (BLDCMs) in EVs lies in its superior chrcteristics in output poer nd longer lifespn over brushed DC otors [8, 9]. Preterized odeling of ESs is the preliinry step hile considering the design of ES speed controller [, ]. The gic forul tyre odel (MFTM) [] is dopted here hich describes the reltionship beteen the slip rtio nd heel friction force. In generl, the vehicle speed cn be esured fro the non-driving heel or integrtion of the ccelertion sensor. Hoever, the non-driving heel speed doesn t exist hile the vehicle is decelerting, becuse the echnicl brkes re set up t ech heel. Integrtion of the vlue y diverge becuse it integrtes the offset of the ccelertion sensor. To resolve the proble, slip rtio estition nd control schee ithout the need of detecting vehicle speed re proposed in [3, 4]. A non-echnicl ntilock brking syste (ABS) controller for electric scooters (ESs) bsed on regenertive, kinetic, nd short-circuit brking echniss ith boundry lyer speed control hs been proposed by our reserch te [5] ith to ptents received [6, 7]. For the literture cited bove, the jor purpose of regenertive brking syste (RBS) s utilized to enhnce trveling endurnce of EVs. With regrd to ABS design, the existing pproches didn t consider dynic brking nd short-circuit brking hich possess lrger brking torques thn regenertive brking. In [5], the pproch relies on the pproxited ES s speed to clculte the vlue of slip rtio. In [8], the uthors hve proposed n dptive sliding ode control nd neurl netork for effective trcking of the slip rtio pplicble to electric vehicles to chieve brking in ddition to propulsion. Hoever, the reserch tsk only styed t the siultion study. No rel-orld ipleenttion hs been ttepted.

2 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v of 3 A ne design of ES s ABS considering the dynic nd short-circuit brking functions is developed in this pper hich is closely relted to our invention [9] unveiled recently. The kinetic ABS brke kes the BLDCM connect to high-poer lo-resistnce resistor for energy dissiption in n interittent nner. This cn lso be used for regenertive brke. Hoever, this is not ithin the scope of this reserch becuse the jor purpose of it is for bttery rechrge rther thn brking due to the lo brking torque. For the short-circuit brke, the BLDCM directly connects to the ground for lrgest energy dissiption in n interittent nner ith extreely short duty. Sliding ode control is utilized s the strtegy for relizing the function of ABS hich considers the nonliner tie-vrying dynics of the scooter s slip rtio. We introduce ne slip rtio estitor ithout resorting to the vehicle speed esureent, hich is unlike those of the trditionl ys in the existing gsoline-poered vehicles. A sliding ode controller is proposed to regulte the slip rtio to rech the idel vlue for better rod dhesion. Siultion study for the ES running on different rod surfces is presented. Extensive experientl verifiction hs lso been conducted. The results sho effectiveness of the presented design.. Syste Modelling.. Dynics for Electric Scooter The rer-heel electric drive equipped ith BLDCM propels the rer heel ith fixed trnsission rtio. The dynics of the BLDCM is siply described by: dω J = T Bω T () L dt T = K i () e T is driving torque of the driving otor, ω is ngulr speed of the otor, K is torque coefficient, i e is phse current, nd here otor, B is dping coefficient, due to lod. J is inerti of the T denotes torque L.8.6 dry rod loose grve rod ice rod.4 ω Tb friction coefficient. -. T slip rtio Figure. Torque blnce on the rer heel. Figure. Friction coefficients vs rod surfces. Figure shos torque blnce on the rer heel, nd the dynic eqution cn be described s: J ω = T + T B ω rf (3) b MV = F (4) V = ω r (5)

3 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v 3 of 3 here J is inerti of heel, T is driving torque generted, T b is brking torque, B is dping coefficient of heel, ω is ngulr speed of heel, r is rdius of the rer heel, F is friction force, M is totl ss of the ES, V is velocity of the ES, nd V is tngent velocity of the rer heel. The trnsission syste ith fixed trnsission rtio cn be described by: ω = nω, T = nt (6) L here n is the ger rtio. For the experientl pltfor considered in this reserch, n =. Substituting () nd (6) into (3), the otion of heel speed is given s: (7) Jeqω = nt + ntb Beqω n rf here Jeq = J + n J nd Beq = B + n B. In (4), the friction force is the function of friction coefficient u given by: here g is grvittionl constnt nd λ is heel slip rtio defined by: here the denointor of (9) is dependent on the gnitudes of F = Mgu( λ) (8) V V λ = (9) x( V, V) V nd V. When brking, the heel tngent velocity V is sller thn the vehicle velocity V, then λ = V. V The tyre odel is estblished bsed on the Pcejke s MFTM []. The MFTM is forulted upon the experientl results so tht the dt of brking torque versus the slip rtio re built. Figure shos the friction coefficients versus slip rtio on different rod surfces [, ]... Short-circuit Brking In the cse of BLDCM ith three pirs of sttor indings, pir of sitches ust be turned on sequentilly in the correct order to energize pir of indings. The bck electrootive force (bck-emf) is regrded s the poer source, nd the current flo is directed fro the otor to the duy lod hich cn be lo-resistnce resistor or even short circuit. The poer generted by bck EMF is E = KBLω here K, B, L re, respectively, otor constnt, flux density, nd conductor length in otor. Short-circuit brke uses the induced current fro the otor bck ef to control the input nd output current direction of the three-phse voltge by full-bridge inverter for the purpose of generting loding effect to the BLDCM; the kinetic brke kes the BLDCM connect to high-poer lo-resistnce resistor for energy dissiption. This ens tht the effect of engine brke in gs-poered engines cn be iicked by chnging the resistor vlue of the duy lod. When the loer r trnsistors re turned off, the brking current ill go through diodes D nd D 4. The electricl energy dissiptes in the brking resistor R b. The brking resistor using s duy lod cn be lo-resistnce resistor or even short circuit, see Figure 3. In Figure 3(b), V di E = Le + ( Re + Rb) i () dt here i is phse current of the phse, R e nd L e re, respectively, phse resistor nd inductnce. The brking poer output generted fro the EV genertor is then P = Ei. The brking poer is ccordingly P = T ω = Ei here T reflects the brking torque.

4 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v 4 of 3 S D S 3 D 3 S 5 D 5 Rb C v v b R e L e v c S D S 4 D 4 S 6 D 6 R R R L L L R b i E E Eb Ec () (b) Figure 3. Short-circuit brking ode () current flo lo r trnsistors hen sitched OFF (b) equivlent circuit..3. Slip rtio estition Precise velocity of vehicle during oving is usully difficult to obtin. Here, e extend the slip rtio estitor ithout esuring vehicle velocity nd its ccelertion [3]. Fro (7), the friction force is obtined s nt + nt B ω J ω F = b eq eq nr () V VV Tking differentition ith respect to tie of (9) gives λ =. Incorporting (5), (7) nd () yields V V ω nt + nt J ω B ω λ λ λ b eq eq = ( + ) ( )( + ) () ω nrmω Fro the bove equlities, it is seen tht the unknon vrible is only λ. Thus, slip rtio estitor (SRE) cn be designed s ˆ ω nt + nt J ω B ω λ = ( + ˆ λ) ( )( + ˆ λ) ω b eq eq nrmω (3) here ˆλ denotes the estite of slip rtio. To nlyze the convergence of SRE, the estition error is defined s e = λ ˆ λ. The error dynics is given by ω nt + ntb J eqω Beqω e ( ˆ = + λ+ λ) e ω nrmω (4) Or equivlently Clerly, the estition error e ill converge to zero, if e = V ( ˆ V + λ+ λ) e (5) V V < V ( + λ+ ˆ λ) (6)

5 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v Becuse λ is very sll, the inequlity ill be closed to 5 of 3 V < V ( + ˆ λ). Since, hen vehicle brking, V, V nd V V (heel ill be stopped before vehicle), nd becuse λ is very sll, thus (6) ould be stisfied nturlly. 3. Control Design A heel-slip controller is designed to chieve trget (desired) slip rtio for given driving condition. The design of ABS utilizes the brking force generted fro the BLDCM of the rer heel hen electricl energy releses to the duy lod s the brking ction occurs. A PI current controller is designed to deterine the duty cycle of pulse idth odultion (PWM) t ech spling instnt ccording to the difference of brking nd reference currents. In hich, slip-rtio sliding ode controller is proposed to clculte the reference current s the reference input to the PI current controller. Figure 4 shos the control schee of the overll syste. PWM T ω, ω i ref ˆλ i fdb Figure 4. Overll brking control schee. 3.. Control for slip rtio Fro (), control of the ES s slip rtio is nonliner control proble. Sliding ode control provides n effective ethod to control nonliner plnt hich is one of the sipler pproch for the robust control proble [, 3, ]. Here, sliding ode controller is designed to regulte the slip rtio for the best rod dhesion. The design procedure of the sliding ode control ethodology consists of to steps: first, sliding surfce tht odels the desired trcking perfornce is defined; then, control l such tht the stte trjectories forced tord the sliding surfce is developed. Eqution () cn be rerrnged s follos λ = f ( λ, t) + b ( λ, t) u (7) here J ω + B ω ω eq eq ( λ, t) = ( + λ) + ( )( + λ), b ( λ, t) ( )( λ) ω nrmω nr Mω f = + nd u = T = K i. The sliding surfce is chosen s s = cλ here c is constnt, λ = λ λidl ith λ idl vlue of λ. Differentiting s ith respect to tie gives By equting (8) to zero, the equivlent control cn be obtined s T being the idel s = cλ (8) u eq nr M ω J = + + λ ω + B ω eq eq n (9) To stisfy the sliding condition, the totl control l is set to be: u = ueq + β sgn( s) ()

6 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v 6 of 3 In rel-orld pplictions, the syste preters re ostly uncertin. Considering the jor syste uncertinty, the control input should be chosen s u = ( u f ( λ, t )) () b ( λ, t) ω J eqω + Beqω f( λ, t) = ( + λ) + ( )( + λ) nd b ( λ, t) = ( )( + λ) ω nrmω nr M ω =.5( + ) is the noinl vlue of M, M in nd M x denote the loer nd upper bounds respectively. Then, the syste cn be expressed s here u is to be deterined, here M Mx Min λ = d + bu () ω here b = M M, d = ( + λ) ΔnM ω Suppose tht ith M M Δ nm = nd nm ε M Δ. d < d < d (3) in x d ω = ( + λ ) ε here in in ω Estite of d is given by bounded by d nd x dˆ d ω = ( + λ x ) ε ω + d in x =. Then ˆd d D specify the loer nd upper bounds, respectively. here D= dx din. The input gin is < b b b (4) in x here the geoetric en of bove equtions, one obtins b in nd b x cn be defined s the estite of b s ˆb= binbx. Fro the ˆ ϕ bb ϕ (5) here ϕ = bxbin. The control l u in () is proposed s follos To stisfy the sliding condition, let us consider ( ) ˆ ˆ sgn( ) u = b d k s (6) { ˆ [ ˆ sgn( )]} ss = s d + bb d k s = ˆ+ ˆ ˆ ˆ s d d d( bb ) bb k s ˆ ˆ ˆ ˆ ( ) s d d + d bb bb k (7) Set η + d dˆ + dˆ bbˆ bbˆ k (8)

7 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v 7 of 3 here η is positive constnt hich deterines the convergent rte of λ reching the sliding surfce. Obviously, the folloing sliding condition ill be stisfied ss η s (9) Since η+ d dˆ + dˆ bbˆ bbˆ k η+ D+ dˆ ϕ ϕ k, the gin in (6) becoes k = ϕη ( + D+ dˆ ϕ ) (3) To reduce the chttering effect for relibility in the rel-orld ppliction, the sign function could be replced by sturtion function given by, if s > ε st( st, )= s/ ε, if s ε, if s < ε (3) here ε > specifies the boundry lyer thickness. Chttering cn be eliinted for the controller to perfor properly in prcticl pplictions. The sturtion function in (3) is effective to sooth out the control continuity in thin boundry lyer neighboring the sitching surfce. One is referred to [] for the siilr tretent. 3.. PI Current Control The PI current controller is designed to trck the reference current coputed by the slip rtio sliding ode controller. The input to the PI current controller is ei = iref ifdb (3) here e i is the difference of reference nd feedbck current, i ref is reference input, i fdb is feedbck brking current. The PI current controller ith nti-indup before sturtion is uprest () t = up () t + ui () t (33) K p here the proportionl ter up() t = Kpei() t nd the integrl ter ui () t = ei ( ς) dς + Kc ( u() t uprest ()) t T ith uprest () t being output before sturtion, ut (), output of PID controller; i K p, proportionl gin; T i, integrl tie; K c, integrl correction gin. The block digr of the PI current controller ith nti-indup correction is illustrted in Figure 5.

8 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v 8 of 3 u p i ref e i K p Ti dt u i u prest u x u u in i fdb e st K c Figure 5. Block digr of the PI current controller ith nti-indup correction Opertionl Procedure When the driven heel of ES reches the predefined speed threshold, the brking procedure orks ccording to the folloing steps: Step : Acquire Hll sensor s signls fro the BLDC otor. Step : Estite the slip rtio fro the slip rtio estitor vi (3). Step 3: Clculte the idel brking current fro the sliding ode controller s the reference input to the PI current controller. The control l of sliding ode strtegy is relized by (33). Step 4: Deterine the duty cycle of PWM fro the DSP PI current controller ccording to the difference of feedbck brking (fro the current sensor) nd reference currents. PI control cond is generted vi DSP s PWM function. ˆλ I ref Figure 6. Softre flochrt of the brking process. Figure 7. Schetic digr of the control syste.

9 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v 9 of 3 Figure 8. The experientl ES. Figure 9. Ipleenttion of the brking control unit. The softre flochrt of the brking process is in Figure 6. In hich, brking current is esured constntly. The DSP deterines hich trnsistors should be turned on ccording to the Hll signls hich re used to deterined rottionl speed of the otor. Bsed on the feedbck conds, the DSP clcultes the vlue of duty cycle to djust the brking force hich regultes the slip rtio into the idel vlue for best rod dhesion. 4. Experientl Verifiction 4.. Experientl settings The experientl ES, block digr of the designed syste, nd hrdre ipleenttion of relted circuits re displyed in Figures 7-9, respectively. The preters used for siultion of controlling the brking current re listed in Tble. () (b) Figure. PI current control () brking current, (b) chnges of duty cycle. Tble. Physicl preters for experientl verifiction. Ite Nuericl vlue totl ss [kg] heel rdius. [] bttery 48[V](V*4) rture inductnce.3 [H] rture resistnce. [ Ω ] otor inerti.568 [ kg- ] otor torque constnt.8 [ N/A ] bck EMF constnt.8 [ V/rd/sec ] brking resistor [ Ω ]

10 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v of 3 The ES s initil speed s set to be 3 k/hr. The PI current controller is designed to trck the reference current deterined by the slip-rtio sliding ode controller s entioned in Section 5. The kinetic energy, hoever, y decrese during the brking process. The duty cycle (i.e. the percentge of tie tht current flos over the spling period) for brking current regultion s incresed to keep the optil slip rtio. Figure shos the PI current control cond ith the reference current 4A for the brking ode. 4.. Siultion results of slip rtio control The sliding ode controller is designed to deterine the pproprite brking force hich regultes the slip rtio to the idel vlue. The brking scenes in the short-circuit brking ode re siulted on three different rod surfces: dry rod, loose grvel rod nd iced rod. The idel slip rtio vlues of three rod surfces re respectively.,.8 nd.5. The bounds of preters re estited s follos. Suppose tht the ss of the ES ith the rider vries ithin the folloing rnge: M ( = 5 kg) M M ( = 4 kg) in x The nonliner tie-vry ter d vries ithin the folloing rnge d ( =.48) d d ( =.4) in x in x This gives ˆ d + d d =, dˆ =.86. Accordingly, the estition error of d is bounded by d dˆ D( =.569). The upper nd loer bounds of the input gin re obtined s bin ( =.75) b bx ( =.). Thus, the geoetric en of it is bˆ = binbx =.9487 nd hence ϕ ( =.796) b ˆ b ϕ( =.649). Figures -3 sho, respectively, the siulted results of slip rtio control on dry, loose grvel nd ice rod surfces. It s clerly seen tht the slip rtio is controlled to pproch the idel vlue on ice rod surfce hile brking current is cpble of trcking the reference current t the first.8sec. Since the heel speed drops, the bck EMF is not enough to support brking current fter.8 seconds. EV speed decreses ccordingly nd EV steering cn be controlled ell. The brking current cnnot trck the reference current fter 3.8 sec nd ABS is out of ction becuse of the decrese of kinetic energy. This shos tht the present pproch orks stisfctorily on dry surfce nd grvel surfce but not on ice surfce. est silp slip 9 8 Wheel nd vehicle speed heel speed vehicle speed 5 Slip rtio control on dry rod surfce:.9.8 Duty Cycle slip rtio speed( /s) referenc e c urrent (A ) 5 duty cycle tie(sec) tie(sec) tie(sec) tie(s) () (b) (c) (d) Figure. Slip rtio control on dry rod: () slip rtio nd estited slip rtio (b) heel speed nd vehicle speed (c) reference current (d) PWM duty cycle.

11 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v of 3 9 Wheel nd vehicle speed Slip rtio control on loose grvel rod surfce:.9 Duty Cycle est silp heel speed slip 8 vehicle speed slip rtio speed(/s) reference current (A ) duty cycle tie(sec) tie(sec) tie(sec) tie(s) () (b) (c) (d) Figure. Slip rtio under sliding ode control on the loose grvel rod: () slip rtio nd estited slip rtio, (b) heel nd vehicle speed, (c) reference current, (d) PWM duty cycle. 9 Wheel nd vehicle speed 35 Slip rtio control on ice rod surfce:.9 est silp heel speed reference current -. slip 8 vehicle speed 3 brking current s lip rtio speed( /s) reference current (A) 5 duty cycle tie(sec) tie(sec) tie(sec) tie(sec) () (b) (c) (d) Figure 3. Slip rtio control on ice rod: () slip rtio nd estited slip rtio, (b) heel speed nd vehicle speed, (c) brking current nd reference current, (d) PWM duty cycle Experientl results As for the friction coefficient beteen tire nd dry rod, the slip rtio becoes the iniu vlue ner to -. s shon in Figure, results in the xiu brke torque. The slip rtio is confined to the presetting vlue of -., s shon in Figure 4(), the brking current is ble to trck the reference cond by the sliding ode controller, s illustrted in Figure 4(b), the duty cycle for brking current regultion s djusted to keep the optil slip rtio, s illustrted in Figure 4(c). Brking current here is proportionl to brking torque nd the heel speed is dequtely reduced by the sliding ode controller, s illustrted in Figure 4(d). Plese visit the folloing ebsite for the rel-orld deonstrtion of the experient. Duty Cycle 4 heel speed duty cycle.5.4 rd/s tie(s) tie(s) () (b) (c) (d) Figure 4. Experientl results of the slip rtio estition under sliding ode control () estited slip rtio, (b) brking nd reference currents, (c) PWM duty cycle, (d) heel ngulr speed.

12 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v of 3 5. Conclusions This invention hs developed ne ide of ABS for ESs bsed on slip-rtio estitor hich utilizes brking force generted by the BLDCM hen the regenerted energy releses to the virtul lod. The theticl odels of ES, BLDCM nd slip rtio estitor re built for theoreticl nlysis of the behvior of brking scene. The odel hs been verified by siulting the ES oving on different kind of rod surfces chrcterized by Pcejk s MFTM. Brking perfornce of the ES is experientlly vlidted on n experientl test bench hich iics vriety of rod scenes. The electricl ABS orks ell due to the fst torque response of the BLDCM hen the ES oves on the slip rod ith different rod surfce dhesion. This shos possibility to relize ABS control for ESs hich re functionlly nlogous to tht of the gs-engine vehicles in brking torque control nd responsive in nti-block brking ctions. Acknoledgeent: This reserch s sponsored by Ministry of Science nd Technology, Tin under the grnt MOST 4--E-5-93-MY. Author Contributions: All the uthors contributed eqully to this ork. All uthors red nd pproved the finl nuscript. Conflicts of Interest: The uthors declre no conflict of interest. References [] J. Tipner nd L. Wolf, Design nd evlution of chrging sttion scheduling strtegies for electric vehicles, IEEE Trnsctions on Intelligent Trnsporttion Systes, vol. 5, no., pp , 4. [] E. Kycn, Y. Oniz, nd O. Kynk, A grey syste odeling pproch for sliding-ode control of ntilock brking syste, IEEE Trnsctions on Industril Electronics, vol. 56, no. 8, pp , 9. [3] T. H. Shi, S. H. Chng, nd S. Lee, Investigtion of sliding-surfce design on the perfornce of sliding ode controller in ntilock brking systes, IEEE Trnsctions on Vehiculr Technology, vol. 57, no., pp , 8. [4] R. E. Precup, S. Preitl, M. B. Rdc, E. M. Petriu, C. A. Drgos, nd J. K. Tr, Experient-bsed teching in dvnced control engineering, IEEE Trnsctions on Eduction, vol. 54, no. 3, pp ,. [5] W. Y. Wng, I. H. Li, M. C. Chen, nd S. F. Su, Dynic slip-rtio estition nd control of ntilock brking syste using n observer-bsed direct dptive fuzzy-neurl controller, IEEE Trnsctions on Industril Electronics, vol. 56, no. 6, pp , 9. [6] S. F. Su, J. C. Chng, nd S. S. Chen, The study on direct dptive fuzzy controllers, Interntionl Journl of Fuzzy Syste, vol. 8, no. 3, pp. 5-59, 6. [7] Y. G. Lee nd S. H. Zk, Designing genetic neurl fuzzy ntilock-brke-syste controller, IEEE Trnsctions on Evolutionry Coputtion, vol. 6, no., pp. 98-,. [8] S. M. Sue, Y. S. Hung, J. S. Syu, nd C. Y. Sun, A bi-directionl poer flo IPM-BLDC otor drive for electricl scooters, in Proceedings of IEEE Conference on Industril Electronics nd Applictions, pp , Tichung,. [9] C. Y. Lee, A high perfornce brushless dc otor driving syste for n electric otorcycle, Mster Thesis, Ttung University, Tin,. [] P. S. P nd S. C. Chng, Model nlysis nd perfornce ssessent of electricl otorcycles, in Proceedings of Interntionl Conference on Mesuring Technology nd Mechtronics Autotion, pp , Hunn, 9. [] H. M. Hu, Identifiction for preterized odeling of electric scooters, Mster Thesis, Ntionl Chung Cheng University, Tin,. [] H. B. Pcejk nd I. J. M. Besselink, Mgic forul tyre odel ith trnsient properties, Vehicle Syste Dynic Dynics, vol. 7, no. S, pp , 997. [3] T. Suzuki nd H. Fujioto, Slip rtio estition nd regenertive brking control ithout detection of vehicle velocity nd ccelertion for electric vehicle t urgent brke-turning, in Proceedings of Interntionl Workshop on Advnced Motion Control, pp ,.

13 Preprints (.preprints.org) NOT PEER-REVIEWED Posted: 5 August 6 doi:.944/preprints68.53.v 3 of 3 [4] K. Fujii nd H. Fujioto, Trction control bsed on slip rtio estition ithout detecting vehicle speed for electric vehicle, in Proceedings of Poer Conversion Conference, pp , Ngoy, 7. [5] W. C. Lin, C. L. Lin, P. M. Hsu, nd M. T. Wu, Reliztion of nti-lock brking strtegy for electric scooters, IEEE Trnsctions on Industril Electronics, vol. 6, no. 6, pp , 4. [6] C. L. Lin nd W. C. Lin, To heel-drive electric otorcycle hving brking controller for generting breking effect siilr to the nti-lock brking syste, Tin Ptent no. I 3778, Tin, vlid -3. [7] C. L. Lin nd C. D. Hung, Electric otorcycle hving brking effect siilr to the nti-lock brking syste, Tin Ptent no. I , vlid 3-9. [8] B. Subudhi nd S. G. Shuzhi, Sliding-ode-observer-bsed dptive slip rtio control for electric nd hybrid vehicles, IEEE Trnsctions on Intelligent Trnsporttion Systes, vol. 3, no. 4, pp ,. [9] C. L. Lin W. C. Lin, Syste of Brking Force Adjusting for Electronic Anti-locking Brking Syste, Ptent, I 3778, Tin, 5. [] J. M. Zhng, B. Y. Song, nd G. Sun, An dvnced control ethod for bs fuzzy control syste, in Proceedings of Intelligent Coputtion Technology nd Autotion, pp , Hunn, 8. [] U. Kiencke nd L. Nielsen, Autootive Control Systes, p. 4, Springer-Verlg, Berlin,. [] J. A. Slotine nd W. Li, Applied Nonliner Control, Prentice-Hll, Engleood Cliffs, NJ, by the uthors; licensee Preprints, Bsel, Sitzerlnd. This rticle is n open ccess rticle distributed under the ters nd conditions of the Cretive Coons by Attribution (CC-BY) license (