Open AccessDrive control strategy of two-wheel independent drive electric vehicle
Author(s) -
Jiashun Li,
Yang Yang,
Yuhang Xiong
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1544/1/012072
Subject(s) - slip ratio , control theory (sociology) , slip (aerodynamics) , yaw , slip angle , torque , pid controller , rotational speed , electric vehicle , angular acceleration , acceleration , engineering , automotive engineering , computer science , physics , control engineering , control (management) , mechanical engineering , temperature control , power (physics) , classical mechanics , aerospace engineering , brake , artificial intelligence , quantum mechanics , thermodynamics
According to the advantages of two-wheel independent drive electric vehicle that the torque and rotational speed of the drive wheel can be easily measured, a driving control strategy of driving antiskid control and torque coordination control is proposed based on road surface identification slip rate and adhesion coefficient. The principle of road surface identification is given. According to the signals of wheel speed sensor, lateral acceleration, longitudinal acceleration and torque sensor, the wheel slip ratio, road surface adhesion coefficient, vertical force and longitudinal force are calculated. Combined with μ-S function curve proposed by Burckhardt et al., the road surface adhesion coefficient and optimal slip ratio are identified. Driving antiskid control strategy adopts PID control technology based on road surface identification of optimal slip rate, peak adhesion coefficient and optimal slip rate, which mainly includes four parts: establishment of wheel stress model of two-wheel independently driven electric vehicle, approximate calculation of slip rate and road adhesion coefficient, optimal slip rate estimation based on fuzzy control and PID controller design based on optimal slip rate. The torque coordination control adopts PID control method based on ideal yaw rate.