A Research on Anti-Slip Regulation of In-Wheel Motor Driven Electric Vehicle

2014 ◽  
Vol 536-537 ◽  
pp. 1059-1064 ◽  
Author(s):  
Miao Hua Huang ◽  
Ya Chao Zhao
Keyword(s):  
Electric Vehicle ◽  
Vehicle Dynamics ◽  
Control Algorithms ◽  
Ratio Estimator ◽  
Slip Ratio ◽  
The Road ◽  
Model Following Control ◽  
Model Following ◽  
Optimal Slip Ratio ◽  
The One

In order to develop the four in-wheel motors driven Electric Vehicle (EV), this paper designed a skidding detector depending on the motor torque, established a slip-ratio estimator. Then, the Model Following Control (MFC) and Optimal Slip-ratio Control algorithms were analysed, compared and optimized. All of the algorithms were simulated using the one-wheel vehicle model. The simultion results show that the algorithms can make full use of the road adhesion characteristics and do good work on the ASR and the vehicle dynamics.

Robust adaptive anti-slip regulation controller for a distributed-drive electric vehicle considering the driver’s intended driving torque

2017 ◽  
Vol 232 (4) ◽  
pp. 562-576 ◽  
Author(s):  
Zhuoping Yu ◽  
Renxie Zhang ◽  
Xiong Lu ◽  
Chi Jin ◽  
Kai Sun
Keyword(s):  
Friction Coefficient ◽  
Electric Vehicle ◽  
State Feedback Control ◽  
Slip Ratio ◽  
The Road ◽  
Road Friction ◽  
Distributed Drive Electric Vehicle ◽  
Robust Adaptive ◽  
Driving Torque ◽  
Road Friction Coefficient

A robust adaptive anti-slip regulation controller which consists of two components, namely a road friction coefficient estimator and a wheel dynamics controller, is designed for distributed-drive electric vehicles. The road friction coefficient estimator is based on the latest non-affine parameter estimation theory to achieve the peak road friction coefficient. Also, working conditions for the road friction coefficient estimator are proposed to avoid the estimation error caused by a small slip ratio. According to the results of the road friction coefficient estimator, the desired reference slip ratio is obtained and the key parameters of the robust adaptive anti-slip regulation controller are modified to make sure that the road conditions can be made full use of. Then, according to the desired reference slip ratio, a state feedback control law with a conditional integrator is designed on the basis of the Lyapunov stability theory for a wheel dynamics controller by analysis of the non-linear characteristics of the tyres and the driver’s intended driving torque and constraints from the ground–tyre adhesion. In addition, it achieves smooth switching between optimal driving and the driver’s intended driving torque rather than normal switching logic. Multi-condition simulations and experiments show that the controller is adaptive to different road conditions, can improve the driving efficiency of the vehicle and can ensure stability of the vehicle. Finally, with comparative experiments, the distributed-drive electric vehicle with a robust adaptive anti-slip regulation controller proves to be more efficient than the traditional vehicle with a traditional anti-slip regulation controller.

A Novel Traction Control Strategy Based on Optimal Slip Ratio Control for Electric Vehicle

2014 ◽  
Vol 705 ◽  
pp. 355-359
Author(s):  
Ling Fei Wu ◽  
Li Fang Wang ◽  
Jun Zhi Zhang
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Pid Control ◽  
Optimal Point ◽  
Slip Ratio ◽  
Traction Control ◽  
Optimal Slip Ratio ◽  
Simulation Based ◽  
Hardware In Loop ◽  
Driving Torque

A novel traction control strategy based on slip ratio gradient PID control is proposed. The gradient of slip ratio can be controlled accurately through adapting the driving torque by analyzing the dynamic process of the wheel. The optimal slip ratio for traction control is found through the analysis of the characteristic of the tire. The slip ratio of the driving wheels can be control at the optimal point through slip ratio gradient PID control. An electric vehicle model for simulation based on MATLAB/SIMULINK has been built and simulations have been carried out. A hardware-in-loop test bench has been built and experiment has been carried out. Results show that the strategy can achieve better driving performance than motor torque PID control strategy.

Variable gain control-based acceleration slip regulation control algorithm for four-wheel independent drive electric vehicle

2020 ◽  
pp. 014233122093342
Author(s):  
Luole Guo ◽  
Hongbing Xu ◽  
Jianxiao Zou ◽  
Hongyu Jie ◽  
Gang Zheng
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Large Scale ◽  
Dynamic Performance ◽  
Gain Control ◽  
Scalar Function ◽  
System Stability ◽  
Slip Ratio ◽  
Variable Gain ◽  
Optimal Slip Ratio

In order to improve the dynamic performance and stability of general acceleration slip regulation (ASR) control technology for four-wheel independent drive electric vehicle (4WID EV), an ASR control strategy based on variable gain controller (VGC) is proposed in this paper. First of all, a road identification strategy is designed to identify the current road surface and calculate the optimal slip ratio of the road. Then, the optimal slip ratio is taken as the control target, and the ASR control strategy based on VGC is designed to keeps slip ratio around the optimum slip ratio through controlling the driving torque output, so wheels can make the best of road adhesion to prevent vehicle from slipping. Meanwhile, we analyze the control system state space, and build a scalar function of the system, and prove that the system satisfies Lyapunov large scale asymptotic stability theorem, so the parameters of the VGC does not affect the system stability. Then, in order to meet the requirement of quick dynamic response and no overshoot, parameters selection of VGC is deduced by mathematics. Finally, the co-simulation of Matlab/Simulink and Carsim results show that the proposed control strategy is with the better dynamics and stability, and can better prevent wheel slipping on various roads.

Active Variable Wheelbase as an Innovative Approach in Vehicle Dynamic Control

2011 ◽  
Author(s):  
Avesta Goodarzi ◽  
Amir Soltani ◽  
Ebrahim Esmailzadeh
Keyword(s):  
Rear Axle ◽  
Control Method ◽  
Dynamic Control ◽  
Vehicle Dynamic ◽  
The Road ◽  
Model Following Control ◽  
Model Following ◽  
Vehicle Dynamic Control ◽  
Vehicle Dynamic Model ◽  
Yaw Moment

Active variable wheelbase (AVW) has been introduced here as an innovative vehicle dynamic control method in which, the position of the front or rear axle relative to the vehicle C.G. can be actively varied. An attempt has been made to show the potential capabilities of this method in improving the road handling and stability of vehicles regardless of its embedded technical difficulties. For this purpose the proposed method has been conceptually studied in the first step and has been shown that one can generate the stabilizing yaw moment by changing the distance of the vehicle C.G. from the front or rear axles. Then the proposed concept has been theoretically studied using a simple vehicle dynamic model incorporated with the Magic Formula tire model. A comprehensive nonlinear 8 DOF vehicle model and a ‘model following control strategy’ have been used to evaluate the performance of AVW systems. The vehicle dynamic behavior when it is either uncontrolled or equipped with an AVW system has been simulated. Simulation results show that AVW can be considered as an innovative method for vehicle dynamic control in future.

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