Research On Stability And Regenerative Braking Control Of Two-motor Independent Driven Formula Racing Car

For the double-motor independent drive formula racing car of Liaoning University of Technology,the racing stability and regenerative braking control methods are studied to take full advantage of the two-motor independent drive.The control algorithm is designed to achieve reasonable control of the car,improve the performance of the car,shorten the car development period,and provide theoretical basis and technical support for the car development.The paper is supported by the electric formula racing car actual development project of Liaoning University of Technology,and the research is carried out under the support of the National Natural Science Foundation of China(51675257).The main research contents are as follows:Firstly,a two-motor independent driven formula racing model is performed.With reference to a certain season’s racing parameters,a two-motor independent drive formula racing model is built by combining CarSim and Matlab/Simulink,including body,tire,steering system,suspension system,braking system,motor model and battery model,and lays the foundation for research verification.Second,the stability control strategy study is conducted.According to the characteristics of the two-motor independent driven formula racing car,the method of using the differential drive to control the yaw moment is studied to improve the stability of the car.The stratus control structure of the vehicle yaw moment is determined,and the yaw moment decision controller and the driving force distributor are designed.The driving traction control algorithm is designed to improve the anti-skid performance of the car through the slip rate control.At the same time,switching strategy of yaw moment and the traction control is designed.The experimental conditions are selected to verify the stability control strategy.The results show that the research method can improve the driving stability of the car.Thirdly,research on the method of regenerative braking control is performed.Taking the advantage of that the electric racing motor can be used for regenerative braking,considering the mechanical structure and the influencing factors of the regenerative braking system,the electro-hydraulic composite regenerative braking control strategy suitable for the two-motor independent driven racing car is studied.The experimental conditions are selected to verify the regenerative braking control method.The results show that the braking energy recovery can be realized under the premise of ensuring stability,and the energy consumption can be reduced,which can increase the driving range.Finally,the simulation experiment is carried out on the loop test bench using the driving simulator hardware.In the driving simulator test bench CarSimRT software environment,the 8-word loop project track and the circuit track are designed to verify the stability control strategy and the regenerative braking control method.The experimental results show that the control method of the subject research can improve the stability of the two-motor independent driven electric formula car and increase the driving range.