基于模糊控制技术的全轮独立驱动车辆防滑控制研究

Antiskid Control Research of All-wheel Independent Drive Vehicles Based on Fuzzy Control Technology

针对多轮独立驱动车辆车轮容易出现打滑的问题,提出了一种基于模糊控制技术的驱动防滑控制方法。以某型8轮独立驱动车辆为研究对象,设计了驱动防滑模糊控制器,对8个驱动电机进行独立控制,通过试验获取三种典型路面的最优滑转率值,采用模糊估计法,对当前路面的最优滑转率值进行估计,电机输出转矩采用进行基于滑转率差值及其变化率的模糊调节。利用ADAMS所建立的车辆动力学模型与MATLAB中的控制模型进行联合仿真试验,对本文所提出的控制方法的可行性和有效性进行分析验证。

Aimed at the problem of the easily appearing slipped wheel in all-wheel independent drive vehicles,a kind of the driving antiskid control method was established based on the fuzzy control technology.Taking 8-wheel independent driven vehicle as the study target,the driving antiskid fuzzy controller was designed to independently control the 8 driving motors,the opti-mal slip ratio about 3 kinds of typical roads were obtained by means of experiments,and the road optimal slip ratio were estimated by use of fuzzy estimation method,and the fuzzy control and adj ustment of the motor output torque based on slip ratio difference and changing rate were performed.At last,by use of the j oint simulation experiments based on the vehicle dynamics model set by ADAMS and the control model in MATLAB,the control method was analyzed and proved to be a feasible and effective method.