Research Of Driving Force Distribute Strategy For 4WD Eleltrical Vehicle Based On The Smallest Coupling Force

The vehicle structure can be simplified and the transmission efficiency can be improved in wheel motor drive vehicle, so the wheel-motor is a good choice for the electric vehicle. The four wheel independent driven system based on the wheel motor is a hot spot in researching electric vehicle nowadays, because the motor torque responds fast and the motor can be independent controlled. Taking 4WID-4WIS as platform, taking the control methods of wheel-motor and driving force distribution strategies of the four-wheel independent driven vehicle as the research object, they are studied by software simulation and the real car experiment.It is designed, assembled and debugged for 4WID-4WIS electric vehicle.According to 4WID - 4WIS electric vehicle parameters, a confederate simulation model is established. The simple vehicle dynamics model is established by ADAMS software and is derived in MATLAB. Driving system mathematical model is obtained through the system identification, and controller of motor current is designed by using the optimal control theory , and models of motor and drivers are built, Final model of combined simulation is established with the vehicle dynamics model derived from ADAMS.Target function based on the minimum wheels decoupling driving force distribution is established The relationship of driving wheels coupling is explained by analysing the force of drive wheels, and objective function and corresponding constraints are establishedSimulation and the real vehicle experiment are studied. The rationality of allocation strategies based on the smallest wheels driving force decoupling and control quality are verified by analysing simulation result and comparing with experiment.