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Table 4 Parameters of the controller in vehicle tests

From: A Fuzzy-based Sliding Mode Control Approach for Acceleration Slip Regulation of Battery Electric Vehicle

Description

Wet road

Dry road

Speed threshold vth (km/h)

5.0

1.5

Optimal slip ratio λth

0.11

0.17

Slip ratio threshold λopt

0.11

0.17

Slip ratio difference λdif

0.5

0.05

Torque coefficient threshold σ

0.6

0.8

Maximum road adhesion μmax

0.4

0.8

Boundary layer thickness φ

0.01

0.01