Research On The Driving Control Strategy Of Electric Driving Beach Vehicle

Due Into the 21 st century, the development of automobile technology has achieved the qualitative leap, especially the multi functionally of the car, it has gradually broken the traditional understanding of the car. Now, intelligent vehicles and other exploration vehicles constantly meet the needs of people. Electric beach vehicle is a kind of all terrain vehicle, and it has become the important direction in the field of scientific research. In sandy environments, vehicles often happen wheel sinkage and wheel slip phenomenon in the fast moving, wheel torque is wasted more. Therefore, the study of electric beach vehicle’s drive control strategy has very important practical significance, and it has great convenience to people to complete the difficult and complex work.The wheel model is the basis of the research on the vehicle driving performance, and it is the medium to link the relationship between the wheel and the road surface. On the basis of the domestic and foreign wheel model, the wheel model which is suitable for the deformable soil is determined. Based on the research of Bekker model and Wong-Reece model, the formula of wheel tire force was obtained. The wheel model simulation analysis results show that wheel driving force is influenced more obvious by wheel slip rate, wheel sinkage and tread depth, and wheels are driven by the maximum value always corresponds with a wheel slip ratio; tire lateral force is mainly influenced by the wheel side slip angle. In the analysis of a single driving wheel, it is found that the maximum efficiency value of the wheel also corresponds to the value of the same slip ratio.Vehicle model is a main method to research on the electric beach vehicle’s drive control strategy, this paper builds the electric beach vehicle dynamics model, wheel slip rate model, the road adhesion coefficient model and pavement roughness model, each model are combined to obtain the electric beach vehicle model. At the same time, a nonlinear two degree of freedom vehicle model is established to simulate the vehicle handling and stability, which proves that the combination of the wheel model and the vehicle model is in line with the actual situation, which can be used in the vehicle drive control.In order to solve the problem of electric beach vehicle’s wheel slip, a drive control strategy is established. On the basis understanding of the existing control algorithms, this paper has designed PID control algorithm and fuzzy control algorithm. The simulation analysis found that both are effective in controlling wheel slip ratio, and the fuzzy control effect is more obvious, wheel slip rate reach the stabilization time is more short. Taking into account the initial torque of the vehicle to determine the impact of the wheel load, the initial torque distribution model is established, in order to meet the actual situation of the vehicle driving process.In order to verify the effectiveness of the drive control strategy, the vehicle driving control model is established and the simulation analysis is carried out in MATLAB/Simulink. The results show that the drive control system can control the slip ratio of the wheel effectively. At the same time, the failure of front wheel drive and the influence of the center of mass position on the drive control are analyzed.