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Driving force coordinated control of an 8x8 in-wheel motor drive vehicle with tire-road friction coefficient identification

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Defence Technology（防务技术） 2022年第1期18卷 119-132页

作者： Zheng Zhang Chun-guang Liu Xiao-jun Ma Yun-yin Zhang Lu-ming Chen Department of Weapons and Control Engineering Army Academny of Armored Forces Beijing100072China

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.

关键词： In-wheel motor tire-road friction coefficient Slip ratio Sliding mode control Conditional integrator Accelera tion slip regulation

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