两轮独立驱动电动汽车驱动防滑控制研究

摘要

According to theadvantages that the rotational speed and torque of the driving wheels aremeasured easily, the accelerationslipregulation control methodof the electric vehicle with two independent drive wheels is studied based onthe roadidentification. The accelerationslipregulation controlstrategy is determined.On the basis ofthe identificationoftheroad adhesion, PID controllers are used to make thedrive wheels workin the vicinity of the optimalslip ratio.The road identification principleis given. According to thesignals of thewheel speed sensor, lateral accelerationsensor, longitudinal accelerationsensorandtorque sensor, theslip ratio, vertical forces, longitudinal force of drive wheels are calculated. The road coefficient andoptimum slip ratioare identified with the Burckhardtμ-Scurves by the road identification method. The accelerationslipregulation control method is verified based onthe CarSim and Matlab/Simulinkco-simulationin typical working condition. The results show that themethod based on theroad identification can identifythe road adhesion coefficient and the optimal slip ratioaccuratelyand it has a good control effect.%根据两轮独立驱动电动汽车驱动轮转矩、转速易于测得的优势，进行了基于路面识别的驱动防滑控制方法研究。确定了整车驱动防滑控制策略，在识别路面附着的基础上，采用PID控制器将驱动轮控制在最优滑转率附近。给出了路面识别原理，根据轮速传感器、侧向加速度、纵向加速度、转矩传感器信号对驱动轮滑转率、垂向力、纵向力进行计算，结合Burckhardt提出的μ-S函数曲线对路面附着系数与最优滑转率进行识别。基于CarSim与Matlab/Simulink联合仿真实验，选择典型工况对控制方法进行了验证。结果表明：基于路面识别的驱动防滑控制方法能够较好识别路面附着系数和最优滑转率，具有良好的驱动防滑控制效果。