A Research On Anti-slip Regulation Of FSAE Pure Electric Racing Car

With the budding of pure electric racing cars in motorsport, many universities at home and abroad have begun to develop electric racing cars. While safety problem is becoming the focus of attention, and anti-slip regulation is an effective method to solve it. In this paper, HRT(HIT Racing Team) rear-wheel drive pure electric racing car is the research object. To improve its stability and dynamic performance, the drive wheel slip rate is controlled in the vicinity of optimum slip rate by controlling the output torque of drive motor.Firstly, the dynamic characteristics of rear-wheel drive pure electric racing car were analyzed. Five degrees of freedom vehicle model that accurately described the driving process and Dugoff tire model were established. Then, vehicle model, four-wheel-force model, drive wheel speed model, center velocity model, slip rate model and adhesion coefficient model were established in MATLAB/Simulink software.Secondly, an anti-slip regulation strategy tracking optimum slip rate and taking full use of the road adhesion coefficient was presented to improve vehicle handling stability and security. Three reasonable road identification schemes were proposed based on conventional road identification and respective modeling and simulation was conducted in MATLAB/Simulink. The simulation results show that the area method designed in this paper to estimate the current optimum slip rate can better meet the actual working conditions.Thirdly, the anti-slip regulation algorithm was designed. PID control algorithm and fuzzy control algorithm were used to adjust the value of drive motor output torque. Then, the drive wheel model with control algorithm was simulated on low adhesion coefficient road in MATLAB/Simulink. The simulation results show that the control effects of PID control algorithm and fuzzy control algorithm are satisfactory. But, the determining and selection of PID optimal control parameters are complex, and fuzzy rules summary and on-line adjustment of fuzzy control algorithm is difficult. Combining with the advantages and feasibility of PID control algorithm and fuzzy control algorithm, fuzzy PID control algorithm was used. The vehicle model, optimum slip ratio estimator model and fuzzy PID controller model were combined to be simulated. The simulation results show that the advantages of PID control algorithm and fuzzy control algorithm can be taken into account and anti-slip regulation can be realized.Finally, the software/hardware and vehicle test were designed for the anti-slip regulation of HRT pure electric racing car. The main control chip selection and minimum control system design was included in hardware design. Software development environment, system debugging and design process was included in software design. Then, vehicle test with anti-slip regulation was designed.