Acceleration Slip Regulation for Multi-wheel Hub Motor Driven Vehicles Based on Road Adaptive

doi:10.3969/j.issn.1000-1093.2021.10.024

Abstract

Abstract: An acceleration slip regulation strategy with dynamic road identification is proposed to enhance the dynamic performance and steering stability of multi-wheel hub motor driven vehicles. The nonlinear three-degree-of-freedom vehicle model, wheel force model, and Dugoff tire model are established, respectively. Based on those models, a fading memory unscented Kalman filter is used to estimate the road adhesion coefficient. The traditional sliding mode control algorithm is improved, and a fuzzy sliding mode controller is designed to adaptively adjust the tire slip rate according to the road conditions and calculate the adjustment torque for acceleration slip regulation. A series of tests were conducted on the real-time simulation platform. The simulated results show that the driving force coordinated control strategy can be used to accurately identify the road adhesion coefficient, quickly adapt to the different road conditions, reduce the excessive tire slip, and improve the driving performance and handling stability performance of vehicle.

Key words: hubmotor, roadidentification, slipratio, fuzzyslidingmodecontrol, accelerationslipregulation

CLC Number:

TJ810.2

CHEN Luming，LIAO Zili，ZHANG Zheng. Acceleration Slip Regulation for Multi-wheel Hub Motor Driven Vehicles Based on Road Adaptive[J]. Acta Armamentarii, 2021, 42(10): 2278-2290.

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