Wheel Slip Ratio Adaptive Control for Distributed Drive Electric Vehicles
This article conducts a research on wheel slip ratio control for distributed drive electric vehicles. In consideration of wheel rotation dynamics and its strong nonlinear properties, a proportional–integral controller is designed in this paper aimed at re
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Abstract This article conducts a research on wheel slip ratio control for distributed drive electric vehicles. In consideration of wheel rotation dynamics and its strong nonlinear properties, a proportional–integral controller is designed in this paper aimed at regulating the wheel slip ratio to a constant value regardless of the road adhesion conditions. At the same time, an online road coefficient estimator is proposed to provide optimal slip ratio for the designed wheel slip ratio controller. The global asymptotic stability of the system is proved by the Lyapunov stability theory. In addition, a distributed drive electric vehicle model is established for performance assessment due to its precise and fast-response torque control. Simulation results show that the proposed controller adaptively regulates the wheel slip ratio to the optimal value of current road with fast convergence speed and high accuracy. Generally, the proposed adaptive controller greatly improves the driving performance of the electric vehicle. Keywords Adaptive control Electric vehicle
Road adhesion estimation Wheel slip ratio
Y. Deng C. Jin L. Xiong (&) School of Automotive Studies and Clean Energy Automotive Engineering Centre, Tongji University, Shanghai 201804, China e-mail: [email protected] Y. Deng e-mail: [email protected] C. Jin e-mail: [email protected] L. Shao Sino-German College for Graduate Study and Clean Energy Automotive Engineering Centre, Tongji University, Shanghai 201804, China e-mail: [email protected]
Z. Wen and T. Li (eds.), Practical Applications of Intelligent Systems, Advances in Intelligent Systems and Computing 279, DOI: 10.1007/978-3-642-54927-4_4, Springer-Verlag Berlin Heidelberg 2014
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1 Introduction As global energy crisis and environmental pollution is worsening, electric vehicles (EV) become vigorous. Distributed drive EV has been an issue in research now because electric wheels have properties of fast torque control and quick response [1]. It makes possible for electric wheel to regulate slip ratio to the optimum value under different road adhesion conditions which contributes to the driving efficiency. In terms of wheel rotate dynamics, the object of wheel slip ratio control is a nonlinear system with uncertainty of road adhesion coefficient. Anti-slip regulation system is a mature technique in traditional vehicle wheel dynamics control which is trying to keep the wheel from drifting by limiting the wheel slip ratio in a region [2, 3]. The common controller attached in traditional vehicles uses wheel rotation speed and acceleration as logic thresholds [2]. A sacrifice of driving efficiency is premised on this method and it behaves differently under different adhesion conditions. Recently, some approaches based on fuzzy method [4–6], PID control [2, 7], and sliding mode control [8, 9] are used in this field. When it comes to wheel slip ratio adaptive control, an online road estimator for the identification of optimal wheel slip ratio cannot be ignored which re
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