Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and st...Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method According to road identification,the optimal sip ratio under the current driving condition is obtainedand a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-roadrces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.展开更多
Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability,traction,and ABS controllers on the low friction surfaces are the most important f...Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability,traction,and ABS controllers on the low friction surfaces are the most important factors affecting car crashes.Due to its direct relation to vehicle stability,accurate estimation of tire-road friction is of interest to all vehicle and tire companies.Many studies have been conducted in this field and researchers have used different tools and have proposed different algorithms.This literature survey introduces different approaches,which have been widely used to estimate the friction or other related parameters,and covers the recent literature that contains these methodologies.The emphasize of this review paper is on the algorithms and studies,which are more popular and have been repeated several times.The focus has been divided into two main groups:experiment-based and model-based approaches.Each of these main groups has several sub-categories,which are explained in the next few sections.Several summary tables are provided in which the overall feature of each approach is reviewed that gives the reader the general picture of different algorithms,which are widely used in friction estimation studies.展开更多
基金This work was supported by the Weapons and Equipment Pre-Research Project of China(No.301051102).
文摘Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method According to road identification,the optimal sip ratio under the current driving condition is obtainedand a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-roadrces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.
文摘Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability,traction,and ABS controllers on the low friction surfaces are the most important factors affecting car crashes.Due to its direct relation to vehicle stability,accurate estimation of tire-road friction is of interest to all vehicle and tire companies.Many studies have been conducted in this field and researchers have used different tools and have proposed different algorithms.This literature survey introduces different approaches,which have been widely used to estimate the friction or other related parameters,and covers the recent literature that contains these methodologies.The emphasize of this review paper is on the algorithms and studies,which are more popular and have been repeated several times.The focus has been divided into two main groups:experiment-based and model-based approaches.Each of these main groups has several sub-categories,which are explained in the next few sections.Several summary tables are provided in which the overall feature of each approach is reviewed that gives the reader the general picture of different algorithms,which are widely used in friction estimation studies.
