Research On Anti-skid Control Of Electronic Limited Slip Differential Drive And The Controller Design

The vehicle drive anti-skid control system establishes the torque control of the wheel on the accurate judgment of the vehicle state and the road condition.Nowadays,the existing sensors cannot accurately obtain the key parameters such as the longitudinal speed and the road adhesion coefficient due to technical or cost reasons,and how to accurately obtain the state parameters of vehicle and road conditions during driving will be a difficulty in driving the anti-skid control system.The electronic limited slip differential(ELSD),as a power distribution unit on the axle of an automobile,plays an important role in the driving,operational stability and driving safety of the vehicle.In this paper,the wheel drive vehicle is the research object,and the electronic limited slip differential is used as the control method for driving the anti-skid control system.The research focus on two aspects : vehicle state parameters estimation and driving slip control.The main research work of this paper is summarized as follows:(1)The vehicle status parameter estimation and the development status of the driving anti-skid technology at home and abroad are summarized.The advantages and disadvantages of different control methods of driving anti-skid are analyzed.The performance indexes of different driving anti-skid control methods are summarized in combination with related literatures.The structure and working principle of the electronic limited slip differential control system are introduced.(2)For the vehicle-driven anti-skid control system,the dynamics analysis was carried out according to the engine,the drive train,the electronic limited slip differential and the tire,and the seven-degree-of-freedom vehicle dynamics model was established.The advantages and disadvantages of the two tire models were compared and the parameters of one of the tire models were optimized.(3)Based on the unscented Kalman filter algorithm and the vehicle dynamics model,the estimated algorithms for roads surface adhesion and longitudinal vehicle speed are designed,and the longitudinal vehicle speed in the linear condition with different adhesion coefficients is estimated.Then this estimated longitudinal speed was compared with the real speed output by Carsim to verify the accuracy of the algorithm.(4)Establish goals and strategies for driving slip control.The road surface recognition model is designed by combining fuzzy adaptive neural system.The simulation results are compared with the actual data to verify the effectiveness of the road surface recognition model.The fuzzy PID controller with the optimal slip rate is designed.The joint simulation model of vehicle driving anti-skid control is built by Carsim and Simulink.The two working conditions of the separated pavement are selected for simulation analysis and the presence or absence of electrons.The simulation results of the limited slip differential control were compared and analyzed.(5)Combined with the requirements of the electronic limited slip differential control system,the hardware circuit and software program of the controller are designed.