The ASR Control Research On EV With In-wheel Motors

With problems of the environmental pollution and fog weather are more and more serious, the renewable energy has been paid more attention. So the new energy vehicles which drived for the renewable energy was a research hotspot in recent years. The independent drive electric vehicle with in-wheel motors which steering by two front wheel, driving by rear wheel is one of the most promising classifications. The electric vehicle with in-wheel motors has a small weighting, driving wheel can controlled independent, torque speed can be measured easy. Compared with the traditional internal combustion engine car, the electric vehicle with in-wheel motors has unique advantage in vehicle dynamics control and driving force distribution. The ASR control was researched in this paper which based on the project that controller researched on two permanent magnet synchronous on in-wheel motor of the Department of Education of Liaoning Province.Firstly, based on the summary of relevant research results at home and abroad, this paper carry on the research for ASR control on the independent driving electric vehicle with two in-wheel-motor. Based on the CarSim-Matlab/Simulink co-simulation platform, the vehicle dynamics model was established and verified by comparison test.Secondly, the road recognition algorithm which can estimate the current road adhesion coefficient and optimal slip ratio by the fuzzy controller was designed based on the road database optimization. The PID controller, Fuzzy controller and adaptive Fuzzy PID controller were designed and simulated validation for ASR control of driving wheel based on the road recognition algorithm to identify the optimal slip ratio. The adaptive Fuzzy PID control which control effect was tested better was selected as the final ASR control algorithm to proceed hardware- in- the-loop testing.Finally, the road conditions was set up which close to complex actual conditions for electric vehicles. The loop experiment platform to study the content of experiments by Liaoning University of technology driving simulator hardware.The experimental results shows that the road recognition algorithm can identify the road information quickly and accurately. The adaptive Fuzzy PID control based on road recognition can control the actual near the slip rate optimal, depressing the excessive slip of the driving wheel.