Driving force coordinated control of an 8x8 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 Zheng Zhang;Chun-guang Liu;Xiao-jun Ma;Yun-yin Zhang;Lu-ming Chen

作者机构：Department of Weapons and Control Engineering Army Academny of Armored ForcesBeijing100072China 

出 版 物：《Defence Technology（防务技术）》 (Defence Technology)

年 卷 期：2022年第18卷第1期

页      面：119-132页

核心收录：

学科分类：08[工学] 0806[工学-冶金工程] 0817[工学-化学工程与技术] 0807[工学-动力工程及工程热物理] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0703[理学-化学] 0701[理学-数学] 0801[工学-力学（可授工学、理学学位）] 0702[理学-物理学] 

基　　金：This work was supported by the Weapons and Equipment Pre-Research Project of China(No.301051102). 

主　　题：In-wheel motor Tire-road friction coefficient Slip ratio Sliding mode control Conditional integrator Accelera tion slip regulation 

摘      要：Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive 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 sip ratio under the current driving condition is obtainedand 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-roadrces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.