Vehicle traction control, which includes antiskid braking and anti spin acceleration, can enhance vehicle performance and handling. The objective of this control is to maximize tire traction by preventing the wheels from locking during braking and from spinning during acceleration.
Wheel slip, the difference between the vehicle speed and the wheel speed (normalized by the vehicle speed for braking and the wheel speed for acceleration), is chosen as the controlled variable for most of the traction-control algorithm because of its strong influence on the tractive force between the tire and the road [17].
A model for one wheel is shown when v is the wheel slip. The goal is to minimize the slip when a disturbance occurs due to road conditions.
Design a controller D(z) so that the £ of the system is 1/V2, and determine the resulting K.
Assume T = 0.1 s. Plot the resulting step response, and find the overshoot and settling time (with a 2% criterion).