四轮轮毂电机驱动电动汽车驱动防滑控制关键技术综述

Overview on Key Technologies of Acceleration Slip Regulation for Four-wheel-independently-actuated Electric Vehicles

驱动防滑控制是四轮轮毂电机驱动电动汽车主动安全控制关键技术之一。分别从车速估计方法、路面识别方法、驱动防滑控制算法三个方面综述了四轮轮毂电机驱动电动汽车驱动防滑控制的关键技术与难点。通过比较车速估计方法中基于运动学和基于动力学的估计方法的优缺点,明确了基于多方法、多信息融合的估计方法是提高车速估计精度的重要措施。比较了基于试验与基于模型的路面识别算法,分别对路面识别中涉及的路面附着系数估计方法、路面类型识别方法进行了分析,并指出:基于试验的路面识别方法仍需提高对测试环境的鲁棒性,基于模型的识别方法则需提高轮胎模型精度以及不同工况的自适应性。总结了基于滑转率控制和基于电机输出转矩控制的驱动防滑控制策略,对现有驱动防滑控制算法进行了分析,并指出提高算法的适应性和鲁棒性是未来的研究重点。最后对四轮轮毂电机驱动电动汽车驱动防滑关键技术发展方向进行了展望。

Four-wheel-independently-actuated electric vehicles have attracted tremendous attention due to its potential for enhancing vehicle dynamics stability and handling performance. Acceleration slip regulation(ASR) is of great importance for improving the driveability of FWIA EVs under the low-friction road surface. This paper presents a comprehensive overview on the key techniques of ARS for FWIA EVs with the primary goal to summarize recent progress and spark innovative ideas for further research advance. The state-of-the-art vehicle speed estimation, road identification and ASR control algorithms are systematically and thoroughly surveyed. Especially, the kinematics-and dynamics-based estimation methods for vehicle speed estimation are compared, and multi-sensor fusion technique represents the most promising direction in this aspect. The experimental-and model-based road identification algorithms are also overviewed with the emphases on the road adhesion coefficient and road surface identification. The slip rate-based and torque-based ASR controllers are covered with detailed analysis on the factors that need consideration in practical implementations. Finally, the prospects for key technologies for ASR are discussed.