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首页> 外文期刊>IFAC PapersOnLine >Acceleration Slip Regulation for Four-Wheel-Independently-Actuated Electric Vehicles Based on Road Identification through the Fuzzy Logic
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Acceleration Slip Regulation for Four-Wheel-Independently-Actuated Electric Vehicles Based on Road Identification through the Fuzzy Logic

机译：基于道路识别的模糊逻辑的四轮独立驱动电动汽车加速滑差调节

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摘要

In this paper, a novel method is proposed for tire-road adhesion coefficient estimation based on the fuzzy logic theory for a four-wheel-independently-actuated electric vehicle (FWIA EV). In the meantime, the vehicle velocity is estimated by the unscented Kalman filter method, which provides the foundation for real-time slip ratio calculation. A PID controller is further synthesized for Acceleration Slip Regulation (ASR) to derive the output torque of each in-wheel motor through feeding the error between the real-time slip ratio and the optimal slip ratio based on road identification. Finally, the effectiveness of the proposed scheme is validated under opposite roads with full acceleration in simulation, and the results show that the proposed ASR scheme is capable of improving the driving performance of the FWIA EV.
机译：本文提出了一种基于模糊逻辑理论的四轮独立驱动电动汽车（FWIA EV）轮胎-道路附着系数估计的新方法。同时，车速通过无味卡尔曼滤波方法估算，为实时滑移率计算提供了基础。进一步合成了PID控制器，用于加速滑差调节（ASR），通过根据道路识别信息输入实时滑差率和最佳滑差率之间的误差，得出每个轮毂电机的输出扭矩。最后，在全加速条件下，在相对道路上对所提方案的有效性进行了仿真验证，结果表明所提出的ASR方案能够提高FWIA EV的驾驶性能。

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