Driving force coordinated control of an 8 ×8 in-wheel motor drive vehicle with tire-road friction coefficient identification

• 作者: Zheng Zhang Chun-guang Liu Xiao-jun Ma Yun-yin Zhang Lu-ming Chen
• 来源期刊: 防务技术
• 年，卷（期）: 2022,（1）
• 页码范围: 119-132
• 页数: 14页
• 语种: 英文
• DOI: 10.3969/j.issn.2214-9147.2022.01.011

摘要

Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electric drive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method.According to road identification,the optimal slip ratio under the current driving condition is obtained,and a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-road forces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.