Acceleration Slip Regulation Control Research Articles

Acceleration Slip Regulation Control Method for Distributed Electric Drive Vehicles under Icy and Snowy Road Conditions

To achieve a rapid and stable dynamic response of the drive anti-slip system for distributed electric vehicles on low-friction surfaces, this paper proposes an adaptive acceleration slip regulation control strategy based on wheel slip rate. An attachment coefficient fusion estimation algorithm based on an improved singular value decomposition unscented Kalman filter is designed. This algorithm combines Sage–Husa with the unscented Kalman filter for adaptive improvement, allowing for the quick and accurate determination of the road friction coefficient and, subsequently, the optimal slip rate. Additionally, a slip rate control strategy based on dynamic adaptive compensation sliding mode control is designed, which introduces a dynamic weight integral function into the control rate to adaptively adjust the integral effect based on errors, with its stability proven. To verify the performance of the road estimator and slip rate controller, a model is built with vehicle simulation software, and simulations are conducted. The results show that under icy and snowy road conditions, the designed estimator can reduce estimation errors and respond rapidly to sudden changes. Compared to traditional equivalent controllers, the designed controller can effectively reduce chattering, decrease overshoot, and shorten response time. Especially during road transitions, the designed controller demonstrates better dynamic performance and stability.

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

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.

A state observation and torque compensation–based acceleration slip regulation control approach for a four-wheel independent drive electric vehicle under slope driving

Wheel slipping of four-wheel independent drive electric vehicle on slope will reduce vehicle controllability and driving stability, thereby reducing vehicle safety. In order to solve the problem of wheel slipping and optimize the speed control performance of four-wheel independent drive electric vehicle on slope, an acceleration slip regulation control strategy of slope drive is proposed in this paper. First, we design a road identification algorithm to identify the current road conditions of the four-wheel independent drive electric vehicle, and calculate the optimal slip ratio of the current road surface by curve fitting method. Then, with the optimal slip ratio as the control objective, the acceleration slip regulation control strategy is designed to maximize the utilization of wheel adhesion coefficient to prevent wheel slip. Third, a slope identification algorithm based on Luenberger state observer is designed to identify the various slopes of the uphill and downhill road, after which a torque compensation algorithm is designed according to the identification slope, to compensate for the longitudinal component of vehicle gravity at different slopes. Fourth, a slope torque distribution algorithm is proposed based on acceleration slip regulation and slope identification. Finally, through the joint simulation platform of MATLAB/Simulink and CarSim, it is shown that the proposed control strategy can better restrain wheel slipping on the uphill and downhill road, and has better dynamic characteristics and stability.

Acceleration slip regulation control for four-wheel independently drive electric vehicle based on fuzzy control

To improve the acceleration performance and stability of the four-wheel independent drive (4WID) electric vehicle on low-adhesion road, a fuzzy control that doesn’t depend on accurate vehicle models is proposed. Taking the driving torque of one side wheel as a reference the slip rate is controlled by controlling the torque errors between the left and right wheels to a certain range. Carsim-Simulink co-simulation is used to analyze the acceleration stability of 4WID electric vehicle on low-adhesion road and μ-split road. The simulation results show that the wheel slip rate can be controlled within a reasonable range through proposed method, and the stability and safety of the vehicle can be effectively improved on the basis of ensuring the power performance of the vehicle.

Acceleration slip regulation control strategy for four‐wheel independent drive electric vehicles

AbstractTo prevent four‐wheel independent drive electric vehicle (4WID EV) wheels from slipping when they are accelerating, an acceleration slip regulation (ASR) control strategy is proposed. Based on the classification of road conditions and the calculation of the optimal slip ratio for road conditions, the slip ratio is adjusted around the optimal slip ratio through controlling the driving torque output. Meanwhile, considering the change of wheel longitudinal force actually, we design a compensator in the ASR control strategy. Then, the system stability is analytically investigated through the classical control theory. Finally, we design an ASR control system in Matlab/Simulink, and apply the advanced simulation software Carsim to build a 4WID EV model, then build a cosimulation model using Carsim and Matlab/Simulink. The simulation results show the effectiveness and validation of the proposed ASR control strategy. © 2019 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

The Combined-simulation of Acceleration Slip Regulation Control for 8×8 In-wheeled Electric-drive Vehicle

This paper presents a new approach for the acceleration slip regulation (ASR) control, carried out by the combined-simulation to break through limitations of the single simulation method. By the combined-simulation method, the virtual prototype model of 8×8 wheeled electric-drive vehicle was established in the ADAMS, and the ASR control model (which is based on the PI control of slip rate) was built in the MATLAB software. In order to testify the practicability of the method, the vehicle acceleration simulation was conducted on low-adhesion road. The experimental results show that the proposed control strategy are effective and the ASR control model are accurate for controlling the 8×8 in-wheeled electric-drive vehicle.

The Sliding Mode Control about ASR of Vehicle with Four Independently Driven In-Wheel Motors Based on the Exponent Approach Law

Acceleration slip regulation control system is a new active safety technology. In this paper, through the research of the four-wheel independent drive electric vehicle, a sliding mode variable structure control algorithm based on exponent approach law is proposed, which is applied to the ASR system. This paper establishes a seven DOFs vehicle dynamics model, tests whether the ASR control strategy is efficient on the poor condition road. The simulation results show that the vehicle acceleration performance improvement rate increases by 43.5% and 58.5% with the control strategy. During the two simulation processes, the results indicate that the sliding mode variable structure control algorithm applied to ASR system has a good adaptation to good and slippery roads. The algorithm can greatly improve the four-wheel independent drive electric vehicle's acceleration performance.

An Acceleration Slip Regulation Strategy for Four-Wheel Drive Electric Vehicles Based on Sliding Mode Control

This paper presents an acceleration slip regulation (ASR) system for four-wheel drive (4WD) electric vehicles, which are driven by the front and rear axles simultaneously. The ASR control strategy includes three control modes: average distribution of inter-axle torque, optimal distribution of inter-axle torque and independent control of optimal slip rate, respectively, which are designed based on the torque adaptive principle of inter-axle differential and sliding mode control theory. Furthermore, in order to accurately describe the longitudinal tyre force characteristic, a slip rate calculation formula in the form of a state equation was used for solving the numerical problem posed by the traditional way. A simulation was carried out with the MATLAB/Simulink software. The simulation results show that the proposed ASR system can fully use the road friction condition, inhibit the drive-wheels from slipping, and improve the vehicle longitudinal driving stability.

Design of Acceleration Slip Regulation System Based on Vehicle Test Platform

In order to improve vehicle acceleration performance on low adhesion roads, an acceleration slip regulation (ASR) is designed with combination control of engine throttle and braking interference based on vehicle platform and fuzzy control algorithm. The principle of ASR system and control logic are described in detail, and the vehicle tests have been carried out. The results show that the controller can effectively prevent excessive spinning of driving wheels on low adhesion roads, and greatly improve the vehicle acceleration performance. It provides a test platform to further study of vehicle active safety control.