分布式驱动越野汽车驱动防滑控制

Acceleration Slip Regulation of Distributed Driving Off-road Electric Vehicle

分布式驱动越野汽车具有动力性能好、路面适应力强等优点,发展前景很好,但是四轮车速不一致会导致控制方法复杂度高。针对这一问题,基于四个车轮不同的加速度,首先计算最大驱动扭矩,建立基于加速度信息的滑转率观测器,然后以最大驱动扭矩为界限,控制各个电机的输出扭矩,使滑转率维持在最佳滑转率附近,从而达到驱动防滑的目的。最后与Carsim进行了联合仿真,结果表明控制方法能够快速显著地降低汽车车轮的滑转率,验证了控制方法的有效性。

The distributed driving off-road electric vehicle has the advantages of good dynamic performance, good adaptability of road, but the different wheels′ speed results in high complexity of control method. Aiming at this problem, based on different acceleration of four wheels, the maximum driving torque is firstly calculated and the slip ratio observer is built. Then chosing maximum driving torque as the boundary, the motor output torque is controlled to keep slip ratio near the optimal slip ratio. Finally, the simulation work combining with Carsim is done. The results show that the control method can significantly reduce the slip ratio of the car wheels, verify the effectiveness of the control systems.