Research on Anti-Skid Control Strategy for Four-Wheel Independent Drive Electric Vehicle
Abstract
:1. Introduction
2. Dynamic Model Establishment
2.1. Vehicle Dynamics Model
2.2. Tire Model
3. Design on Driving Anti-Skid Control Strategy
- (1)
- The current slip rate of the driving wheels and the road adhesion coefficient is calculated according to the vehicle dynamics model, tire model and motor model. The road slip rate and the wheel adhesion coefficient are used as the input of the road surface recognition controller, the current road surface condition is determined according to the road surface recognition controller, and the road surface parameters of the current road surface are calculated.
- (2)
- Then, the slip rate control module is input, and the optimal slip ratio suitable for the current road surface is determined through the control algorithm. By adjusting the pedal signal, the wheel speed and the vehicle speed can be adjusted in realtime to prevent the wheel from slipping.
3.1. Wheel Slip Mechanism
3.2. Road Identification Module
3.3. Slip Rate Control Module
4. The Simulation Analysis
4.1. Road Recognition Module Verification
4.2. Slip Rate Control Module Verification
5. Conclusions
- (1)
- The pavement recognition module establishes the standard pavement curve μ-s curve, and calculates the maximum adhesion coefficient of the pavement and the optimal slip rate when the vehicle is sliding.
- (2)
- The slip rate control module adopts a fuzzy PID control algorithm. The change rate of the difference between the real-time slip rate of the wheel and the target slip rate E and E is input, the torque adjustment signal is output, and the pedal signal is calculated and output to the wheel hub motor to further prevent the vehicle from slipping.
- (3)
- Carsim/Simulink software modeling is completed, and simulation verification of driving anti-skid controller is carried out. The results show that the road surface identification module in the driving anti-skid control strategy can quickly identify the current road surface conditions, and the slip rate control module can reasonably control the output motor driving torque, reasonably and effectively reduce the slip degree of the vehicle, and avoid the slip of the vehicle. Simulation results verify the feasibility of the control strategy. In the process of driving anti-skid, the standard road surface selected is not comprehensive enough and needs to be further optimized, so as to improve the efficiency and accuracy of road surface identification.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Parameter Road Type | Dry Asphalt | Wet Asphalt | Snow Pavement | Ice Pavement |
---|---|---|---|---|
C1 | 1.2801 | 0.857 | 0.1946 | 0.05 |
C2 | 23.99 | 33.822 | 94.129 | 306.39 |
C3 | 0.52 | 0.3470 | 0.0646 | 0.001 |
Sopt | 0.170 | 0.131 | 0.065 | 0.03 |
μmax | 1.171 | 0.8 | 0.190 | 0.05 |
Adhesion Coefficient Slip Rate | Dry Asphalt S | Wet Asphalt M | Snow Pavement B | Ice Pavement VB |
---|---|---|---|---|
Dry asphalt H | ES | D | TD | TD |
Wet asphalt M | GS | ES | TD | TD |
Snow pavement L | TD | TD | ES | D |
Ice pavement VL | TD | TD | GS | ES |
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Zhang, C.; Ma, J.; Chang, B.; Wang, J. Research on Anti-Skid Control Strategy for Four-Wheel Independent Drive Electric Vehicle. World Electr. Veh. J. 2021, 12, 150. https://doi.org/10.3390/wevj12030150
Zhang C, Ma J, Chang B, Wang J. Research on Anti-Skid Control Strategy for Four-Wheel Independent Drive Electric Vehicle. World Electric Vehicle Journal. 2021; 12(3):150. https://doi.org/10.3390/wevj12030150
Chicago/Turabian StyleZhang, Chuanwei, Jian Ma, Bo Chang, and Jianlong Wang. 2021. "Research on Anti-Skid Control Strategy for Four-Wheel Independent Drive Electric Vehicle" World Electric Vehicle Journal 12, no. 3: 150. https://doi.org/10.3390/wevj12030150