Robust Adaptive ASR Control for In-wheel Motor Driving Electric Vehicle Considering Longitudinal Tire Lag

被引：0
|
作者：
Shen T. [1 ]
Yin G. [1 ]
Ren Y. [1 ]
Wang F. [1 ]
Liang J. [1 ]
Sha W. [1 ,2 ]
机构：
[1] School of Mechanical Engineering, Southeast University, Nanjing
[2] Department of Electronic Architecture and Vehicle Control, Chery New Energy Vehicle Co., Ltd., Wuhu
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2023年 / 59卷 / 14期
关键词：
acceleration slip regulation; in-wheel motor driving electric vehicle; robust control; tire lag;
D O I：
10.3901/JME.2023.14.222
中图分类号：
学科分类号：
摘要：
It is more likely for In-wheel motor driving electric vehicle to skid at the start, and the body shock is more serious during acceleration. Considering the influence of tire lag, LPV-based Robust performance-guaranteed pole-placement ASR controller is proposed to solve these problems. Combining the traditional wheel dynamic model and the tire lag, the lagged wheel dynamic model is established. It is proved that the tire lag contributes to the oscillation of wheel slip ratio. For the purpose of preventing the wheel skid as well as alleviating the oscillation of the slip ratio, the performance-guaranteed pole-placement algorithm is adopted for the design of anti-skid strategy. Considering the influence of perturbation parameters and time-varying parameters, robust control and gain-scheduled methods are used to guarantee the stability of slip ratio tracking. Simulation and experiment results confirm the robustness and adaptiveness of the designed ASR controller. Compared with the traditional ASR controller, the oscillation of slip ratio is alleviated and the longitudinal comfort is improved during acceleration. © 2023 Chinese Mechanical Engineering Society. All rights reserved.
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页码：222 / 236
页数：14
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