Driving Control Research for Longitudinal Dynamics of Electric Vehicles with Independently Driven Front and Rear Wheels

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.