Research On Wheel Anti-skid Control Based On Motor Energy Distribution Model

The distributed drive electric vehicle has a simple structure and convenient operation,which is the best form for the electric vehicle to realize its maximum potential.The bottom torque and anti-skid control are one of the key technologies that need to be broken in its current development.The existing anti-skid control strategies for distributed-driven electric vehicles have deficiencies in applicability and practicability.This paper makes full use of the structural characteristics of distributed electric vehicles,and proposes and validates a new anti-skid control strategy from the perspective of motor energy distribution.First,the vehicle model and PMSM control model are established in MATLAB / Simulink,which mainly include one-wheel vehicle model,tire model,and PMSM vector control model.Secondly,this paper proposes a wheel slip control method based on the motor energy distribution model.This method uses the motor current,voltage,and wheel speed information to calculate the deviation between the actual power consumption of the wheel and the theoretical power consumption when it does not slip,and then adjusts the upper motor through feedback control Torque command.The feedback control method in this paper uses fuzzy PI control and logical threshold control for comparison.Simulation based on a one-wheel vehicle model verifies the effectiveness of the algorithms under the two feedback control methods.By setting different simulation conditions,the robustness of the algorithm under different road conditions,controller parameters,and noise disturbances is also verified;based on Car Sim and Simulink joint simulation,the effectiveness of the algorithm in a complete vehicle model is further verified.After that,this paper builds a hardware-in-the-loop test platform based on NI PXI,which mainly includes real-time control model construction and algorithm code generation.Real-time control models include vehicle models,permanent magnet synchronous motor control models,and CAN communication receive and send models;the algorithm codes include algorithm codes under two feedback control methods.The algorithm is downloaded to the actual ECU and verified,and the validity and real-time performance of the algorithm are verified.Finally,this article develops a four-wheel drive electric experimental vehicle platform,including the hardware design and software development of the test vehicle.Based on this experimental platform,the effectiveness of the proposed anti-slip control algorithm is further verified.