Aiming at solving the problem of wheel slipping during driving and braking,an integrated control strategy of ABS and ASR based on optimal slip control was proposed for multi-wheel independent electric drive vehicle. By using the first-order dynamic system model of torque control and the single-wheel model of multi-wheel independent electric drive vehicle,the precise mathematical model of the controlled object was established. Based on this mathematical model and the theory of fuzzy sliding mode control, the integrated control algorithm of ABS and ASR was designed to adjust the output torque of motor and brake. The integrated control strategy and algorithm was verified through a sort of electromechanical joint simulation experiment based on the dynamics simulation software Adams and the control simulation software Matlab. The results indicate that integrated control of ABS and ASR is efficient at controlling the slip ratio of wheel,which improves the ac-celeration and braking performance of vehicle.%针对多轮独立电驱动车辆驱动和制动过程中车轮滑转或滑移的问题,提出了基于最优滑转率控制的ABS/ASR集成控制策略.通过将电机与机械制动器简化为采用转矩控制的一阶动态系统模型,结合多轮独立电驱动车辆单轮模型,建立了被控系统精确的数学模型;在此基础上,采用模糊滑模控制理论设计了ABS/ASR集成控制算法,将驱动防滑和制动防抱死功能集成到控制器中,实现了对驱动力矩和制动力矩的调节,使车轮滑转率跟踪最优滑转率;最后采用多体动力学软件Adams/View与控制软件Mat-lab/Simulink进行机电联合建模与仿真实验.仿真研究结果表明:ABS/ASR集成控制能够在车辆低速起步阶段或紧急制动时有效控制车轮滑转率,提高了车辆的动力性和制动性.
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