Driving Force Distribution Analysis And Control Method For 4wd Eleltrical Vehicle

For the sake of environmental protection and energy save, electrical vehicle (EV) takes in the most important research area of environmental energy sources now, and the 4 independently wheels driving technical becomes the focus of the EV research. This article takes driving force distribution analysis and control method of 4wd EV as the object of study, on the foundation of the domestic and foreign research present situation analysis, and takes research on each link of the simulation and experiment on 4WD EV control.First, an introduction of ADAMS (Automatic Dynamic Analysis of Mechanical System) and Matlab/Simulink software is made. After analyzing the structural property of model vehicle, a multi-body dynamic model of a full independent 4WD EV is established by using ADAMS software, and an electric motor combined the drive-control system is established under Matlab/Simulink environment.Second, dynamics of vehicle with four independently-driving wheels (4WD) is analyzed to show the purpose of vehicle running control. Dynamic response model of driving system is obtained through system identification, and then be transformed into a control model of driving system. The whole vehicle control method is designed, optimal control theory is used to design system feedback controller, and then adjustment method of controller's reference input is given. Action of feedback controller and reference input in the whole vehicle control is expounded. The equality torque driving force distribution strategy is applied in experiment, and the method get favorable effect.At last, taking anti-slip control as the goal, mathematics models was built for the force of both the whole vehicle and the tire part. After an analysis of the relationship between adhesion coefficient of road surface and wheel slip was made, the cost function and restrains was established with the selection of related parameters. Driving force distribution analysis and driving force optimize simulation was finished after the completion the model of controller...