Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electric drive 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 slip ratio under the current driving condition is obtained,and 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-road forces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.

Zheng Zhang;Chun-guang Liu;Xiao-jun Ma;Yun-yin Zhang;Lu-ming Chen

Department of Weapons and Control Engineering,Army Academy of Armored Forces,Beijing,100072,China

防务技术

[1]Zheng Zhang;Chun-guang Liu;Xiao-jun Ma;Yun-yin Zhang;Lu-ming Chen-.Driving force coordinated control of an 8 ×8 in-wheel motor drive vehicle with tire-road friction coefficient identification)[J].防务技术,2022(01):119-132

wheeled

Driving,coordinated,motor,tire,road,friction,coefficient,identification,Because,complexities,interaction,wheels,multi,distributed,electric,can,easily,slip,under,certain,working,conditions,affects,dynamic,formance,stability,crucial,driving,With,this,aim,paper,presents,coordination,strategy,eight,vehicles,equipped,each,In,proposed,module,estimates,forces,using,unscented,Kalman,filter,gorithm,recognizes,adhesion,by,employing,recursive,least,square,method,According,optimal,current,obtained,controller,sliding,mode,conditional,integrator,uses,value,accel,eration,regulation,anti,obtains,adjusting,torque,which,integrated,driver,command,feedforward,implement,results,hardware,loop,simulation,show,that,accurately,well,thus,effectively,fulfill,purpose,different

0.484844