Abstract
This paper takes the electric off-road vehicle with separated driven axles as the research object. To solve the longitudinal dynamics driving control problems, vehicle dynamics model, and control strategies were studied and the corresponding simulation was carried out. An 8-DOF vehicle dynamics model with separated driven axles was built. The driving control strategies on the typical roads were put forward. The recognition algorithm of the typical road surfaces based on the wheels’ slip rates was proposed. And the two control systems were designed including the pedal opening degree adjustment control system based on PI algorithm and the interaxle torque distribution control system based on sliding mode control algorithm. The driving control flow of the proposed vehicle combining the pedal adjustment control system with the interaxle torque distribution control system was developed. And the driven control strategies for the typical roads were simulated. Simulation results show that the proposed drive control strategies can adapt to different typical road surfaces, limit the slip rates of the driving wheels within the stable zone, and ensure the vehicle driving safely and stably in accordance with the driver's intention.
Highlights
The deterioration problem of energy and environment makes the ecovehicles with motor driving develop rapidly
Several types of drive systems have been proposed for ecovehicles such as front- or rear-wheel-drive system with two in-wheel motors and four-wheel-drive system with independently driven front and rear motors or four in-wheel motors [1], among which the system with independently driven front and rear motors has shown many advantages in the power matching, driving control, regenerative braking, and space layout
Control strategy is the key of traction control [2]
Summary
The deterioration problem of energy and environment makes the ecovehicles with motor driving develop rapidly. Interaxle torque distribution strategy has important influence on vehicle performance, which has been studied by many researchers [3,4,5,6]. Kang et al designed a hierarchical control structure for the axle-separated-driven system, which effectively improved its maneuverability, lateral stability, and rollover prevention performance [13]. The current control strategy for single road surface is incomplete and the antislip control for electric vehicles with axles separated driven system has some new characteristics. Focusing on electric vehicles with independently driven front and rear wheels, taking an electric off-road vehicle as the research platform, combined with the antislip control for the four-wheel-drive vehicle, we studied the driving control strategies and algorithms for longitudinal dynamics to improve the dynamic performance and safety on different road surfaces.
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