Research And Test Verification Of Acceleration Slip Regulation Algorithm For Battery Electric Vehicle

With the intensification of environmental pollution and energy problems,our country put forward the strategic development goal of sustainable development,the traditional fuel car of huge pollution and energy consumption gradually by the attention of people,tend to zero pollution of the electric car generally,and drive torque system is an important part of automobile active safety system.Electric vehicles working characteristic of low speed high torque aggravates accelerate slipping problems,the system of electric vehicle drive torque is proposed of more pressing needs and become the important guarantee of the electric car driving safety.During the process of battery electric car research and development,for its drive slippage appear easily at low load,through theoretical analysis,first of all find out the cause of the wheel slip,according to the relationship of slip ratio and adhesion coefficient curve to determine target slip rate control,establish the mathematical model of single wheel driving wheel,through the analysis of the advantages and disadvantages of all kinds of control algorithm,and the particularity of drive torque control,namely the response and stability requirements,determine to have strong robustness of sliding mode control as a core control algorithm,to slip rate as control variable,design a kind of nonlinear reaching law,at the same time guarantee to converge speed and close to the sliding mode surface shake requirements,and the robustness and stability of the proposed controller are analyzed according to Lyapunov method.During carrying on the theoretical analysis and mathematical modeling,on the basis of through graphical modeling software to establish drive torque control algorithm,and embed it in the vehicle controller of the torque driver module,through the establishment of the vehicle model and context model,Dynamic Modeling Software through hardware in loop test to verify its running in the controller’s control ability,first of all to better response and no overshoot as the basis,the controller is the key parameters of high/low adhesion road: reaching law factor,then respectively in high adhesion and low adhesion road pavement and pavement docking,verify the effectiveness of the controller is proposed.Furthermore,we embed the driving anti-skid controller into the whole vehicle controller of pure electric vehicle,and carry out the real vehicle road test on the wet road in rainy days.The test results show the availability of the controller under real conditions.