Traction PID Control Based on Ant Colony Optimization for Electric Wheeled Vehicle

A traction control strategy based on PID and ant colony algorithm (ACO) was proposed to improve the longitudinal acceleration stability of electric wheeled vehicles. First, a method of engineering application was described to estimate the state parameters of vehicles in real time. Then the optimal slip rate was calculated with a designed fuzzy controller. Finally, the ACO was applied to the traction PID controller, to achieve the adjustment of the wheel torque and carry out the real vehicle test in the electric wheel car. The results show that the control strategy can meet the requirements and restrain the excessive slip of the wheels.