Resumen
This article addresses the braking controls for an electric vehicle with DC motors such that the voltage in the motors is used for controlling the wheel angular velocity. Other papers on the anti-lock braking system (ABS) handled how to derive the braking torque (or braking pressure) for controlling the wheel angular velocity. However, heavy or prolonged braking can cause brake fade or wear. According to EURO 7 regulations, brake fade or wear is not desirable, since the regulations refer to the reduction in particles emitted from brake pads. For avoiding heavy or prolonged braking, this paper does not use a brake unit, such as electro-mechanical brake units or hydraulic brake units, for vehicle stop. Instead, the motor voltage is used for controlling the wheel angular velocity. While a vehicle moves, the goal of this paper is to provide automatic braking controls in real time, so that the vehicle stops safely and smoothly without slippage before colliding with an obstacle. In practice, road conditions can change depending on weather conditions, such as rain or snow. Moreover, road slope can have an effect on the braking distance for the vehicle. Thus, this article introduces automatic braking controls, while considering both road slope and road conditions. This article is unique in presenting automatic braking controls for the smooth stop of electric vehicles with DC motors, while considering both road slope and road conditions. In addition, this article is unique in controlling the motor voltage for controlling the wheel angular velocity, while not requiring any brake units.