Research On Driving Anti-skid Control Of Distributed Drive Electric Vehicles

Acceleration Slip Regulation(ASR),which is also called Traction Control System(TCS),can prevent wheel skidding and ensure the effectiveness of torque output on different roads,is the foundation of all dynamics controls.This paper researches on the dynamics of distributed-drive electric vehicles and proposes new control algorithms to provide good stability and dynamic performance by controlling the torque output.Firstly,according to the requirements of this research,this paper builds the whole vehicle accelerating model,the dual-wheel accelerating model and the one-wheel accelerating model.And,a one-wheel vehicle model based on Magic Formula is built for the following simulations.Then,this thesis proposes a novel traction control approach based on chassis acceleration information,which calculates the constraint torque in real time with the torque command,the wheel rotation and the acceleration.Then a torque adjustment module based on stateflow/fuzzy control is designed to control the torque command.Simulations with Simulink demonstrate its good anti-slip effectiveness and dynamic performance.Comparison of simulation results with various control parameters verify the robustness of the proposed control design.The TCS proposed above will be invalid if the acceleration sensor is not available.Therefore,based on the Maximum Transmissible Torque Estimation method,this thesis presents an enhanced MTTE control method for the minimum working mode with fuzzy control,which obtains compensating torque according to fuzzy control and then estimates the torque limitation.The simulations show that this method not only inherits the advantages of the MTTE method,but also improves the anti-slip effectiveness,dynamic performance and reliability.Aditionally,Analysis of the two control methods and MTTE control method is conducted from the angles of performance,cost,robust,implementation difficulty and stability.At.last,this thesis develops a four-wheel-drive experiment platform,including experimental car's design,manufacture,control,monitor and PC interface design.And then the methods proposed in this research are tested by this platform.The results verify the feasibility and effectiveness of the methods.