The Torque Distribution and Anti-slip Regulation Control for Two-wheel Independent Drive Electric Vehicle

摘要

In this paper, the research object is rear wheel independent drive electric racing car, and a hierarchical control strategy is designed. The upper layer controller allocates the drive torque to left and right wheel by considering the tire road transfer when the car accelerates and turns. It ensures the stability of vehicle in cornering. The under layer controller is anti-slip regulation (ASR) controller which uses optimal slip ratio control. To ensure the control effect, a recognition method of the optimal slip ratio is proposed. Fuzzy self-tuning PID controller is designed in the ASR controller to control the slip ratio in the optimum range. It can get the maximum use out of adhesion coefficient and enhance the power performance of the vehicle. The Carsim full-vehicle model is used to establish a co-simulation platform with MATLAB/Simulink software, and the control strategy is simulated on this platform offline. The result of the simulation shows that the torque allocate controller improves the lateral stability of vehicle in cornering and the ASR controller can control excessive slip of wheels effectively and improve the power performance of the vehicle.