Electro-Mechanical Traction Control for Small In-Wheel Electric Mobility

This paper proposes the motor-based traction control (MTC) for small in-wheel electric mobility in the first/last mile, such as electric kickboards, scooters, motorcycles, and delivery robots. The MTC method employs model-based torque control instead of slip speed-based control using the difference between vehicle velocity and wheel longitudinal velocity. So, it is advantageous not only for agile responsiveness in the tire slip stage but also for simple implementation that does not require reference vehicle speed information. The MTC model consists of a traction force observer and a target parameter defined as the acceleration ratio to estimate the maximum transmissible traction force. It is based on earlier studies, but overcomes the pain points and demonstrates more effective traction control performance through quarter-vehicle simulation.