四轮独立驱动电动汽车自适应驱动防滑控制

Self-adaption acceleration slip regulation control of four-wheel independently-driving electric vehicle

驱动防滑控制研究存在建模方法单一,控制器的目标滑转率不能与变化的路面条件相适应,未考虑车辆轴荷转移对车轮附着性能的影响等问题。为解决上述问题,建立基于Carsim与Matlab/Simulink联合仿真的整车动力学模型;设计基于双模糊算法的自适应驱动防滑控制器,控制器中加入路面识别模块,能够估计变化的路面附着条件,根据估计结果选择最优的目标理想滑转率,实现对当前路面的自适应控制;分别设计前后轴驱动防滑控制器,实现前后轴差别控制。针对不同工况,对建立的整车模型及驱动防滑控制器进行验证。

There are many problems in the research of the acceleration slip regulation control,such as the single modeling method,the ideal slip rate of the controller can not match the changing road conditions,and the influence of the axle load transfer on the wheel adhesion performance is not taken into account. In order to solve the above problems,the vehicle dynamics model based on Carsim and Matlab/Simulink co-simulation was established. A self-adaption acceleration slip regulation controller based on double fuzzy algorithm was designed. The pavement recognition module could be added to the controller to estimate the changeable pavement attachment condition. Based on the estimation results,the optimal target slipping rate could be selected to realize the self-adaptive control. The acceleration slip regulation control algorithm of front-rear axle drive was designed separately to realize the differential control of front and rear axles. According to the different working conditions,the vehicle model and the acceleration slip regulation controller were verified.