A Study of Driving Force Optimal Control of Multi-wheel Independent Electric Drive Vehicle

doi:10.3969/j.issn.1000-1093.2016.01.004

Abstract

Abstract: In order to improve the power performance of multi-wheel independent electric drive vehicle, a hierarchical control structure is established to realize the optimal control of the whole vehicle driving force. This kind of control structure includes an predistribution control of load on each axis, the acceleration slip regulation (ASR) and the redistribution based on state of vehicle. The ASR is the core layer which adopts a slip mode control method based on the road’s optimal slip rate, and an abnormal fault detector based on cumulative sum (CUSUM) statistical control is designed. The optimal estimation of slip rate can be realized based on μ-λ figure. The hierarchical control structure can be used to achive the optimal distribution of drive force between axis and driving motor based on the output control of single wheel’s optimal control. The control structure is proven by a real-time simulation in hardware in loop (HIL) in order to improve the vehicle’s performances, including climbing ability, directly accelerating ability, and trafficability.

Key words: control science and technology, multi-wheel independent electric drive, power performance, acceleration slip regulation, optimal control

CLC Number:

TJ81

YANG Gui-bing, LIAO Zi-li, MA Xiao-jun, LIU Chun-guang. A Study of Driving Force Optimal Control of Multi-wheel Independent Electric Drive Vehicle[J]. Acta Armamentarii, 2016, 37(1): 23-30.

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