Research On Electric Differential And Anti-Slip Combined Control Of In-wheel Motor Driven Electric Vehicle

In-wheel motor driven vehicle is a pure electric vehicle which only uses the electric energy in batteries and employs the torque of in-wheel motor as power source.As the driving torquesof in-wheel motor driven vehicle can be directly obtained fromin-wheel motorswhich are high-efficiency andwhose torques and speeds can befast and accurately measured,therefore compared with the traditional vehicle the in-wheel motor driven vehicle has great advantages in power performance,fuel economy and controllability.This thesis regards thein-wheel motor driven vehicle as the research object,and the research on anti-slip regulation and electronic differential systemis carried out.The main research contents of this thesis are as follows:(1)The simulation models of in-wheel motor driven test vehiclearerespectively established in Adams/View software and CarSim software,the joint simulation methodsbetween thesetwo softwaresand Matlab/Simulink software are illustrated,and the comparative analysis of the two methods of modeling and simulation showsthe advantages and disadvantages of each other.(2)Based on the theory of vehicle single wheel model andthe simulation data of the in-wheel motor test vehicle in Adams/View software,a new road recognition technology which can take full use of the advantages of in-wheel motor,such as independent control and easy measure of wheel speed and motor torque,is put forward.(3)On the basis of in-depth analysis of fuzzy control theory the anti-slip fuzzy controller is designed.Based on the joint simulation between Adams/View software and Matlab/Simulink software,the effectiveness of the ASR designed in this thesis is verifiedthrough comparing the simulation results of fuzzy control algorithm and the model following control algorithm.(4)On the basis of in-depth analysis of model prediction theory,the driving controller which utilizes the actual and expected values of vehicle yaw rate and side-slip angle to calculate the vehicle additional yaw torque is designed.On the basis of in-depth analysis of fuzzy control theory,the driving torque distribution controller which is used to distribute the vehicle target torque and vehicle additional yaw torqueis designed.The electronic differential controller designed in this thesis is composed ofthe above two controllers,and through thejoint simulation ofCarSim software and Matlab/Simulink software the effectiveness of electric differential and anti-slip combinedcontrol isverified.The current chassis control technologies do not fully utilized the advantagesofin-wheel motor driven vehicle,but theelectric differential and anti-slip combinedcontrol ofin-wheelmotordrivenelectric vehicle designed in this thesis can avoid that defect.Based on the simulation results,the control algorithm designed above can effectively improve the stability of the vehicle.The research contents of this thesis laid a certain foundationfor the development of chassis control.