四驱动电动汽车坡道行驶ASR控制仿真研究  

Simulation Research on ASR Control of Four-DriveElectric Vehicle Driving on Slopes

作　　者：唐阳山[1] 刘晶晶 刘畅[1] 王琪 TANG Yang-shan;LIU Jing-jing;LIU Chang;WANG Qi(Liaoning University of Technology,Jinzhou Liaoning 121001,China)

机构地区：[1]辽宁工业大学,辽宁锦州121001

出　　处：《计算机仿真》2023年第6期162-169,共8页Computer Simulation

基　　金：基于机器视觉的驾驶员危险驾驶行为识别研究(JJL2019 5410)。

摘　　要：轮毂电机电动汽车驱动防滑控制能够增加车辆行驶安全性。基于汽车纵向动力学方程和运动学方程,采用UKF算法对车速和道路坡度进行联合估计。采用模糊控制的方法识别汽车当前行驶路面的利用附着系数和最优滑转率。在车速和坡度联合估计与路面识别的基础上,采用PID控制方法对四轮驱动轮毂电机电动汽车进行驱动防滑控制。利用CarSim和MATLAB/Simulink软件进行联合仿真验证。结果表明设计的算法和控制策略准确有效。The acceleration slip regulation of the in-wheel motor electric vehicle can increase the driving safety of the vehicle.Based on the vehicle longitudinal dynamics equation and kinematics equation,this paper used the UKF algorithm to jointly estimate the vehicle speed and road slope.The fuzzy control algorithm was used to identify the uti-lization coefficient and optimal slip rate of the current road surface of the car.Based on joint estimation of vehicle speed and slope and road surface recognition,the PID control method was used to control the drive anti-skid of the four-wheel drive in-wheel motor electric vehicle;CarSim and MATLAB/Simulink software were used for joint simu-lation verification.The results show that the algorithm and control strategy designed in this paper are accurate and ef-fective.

关 键 词：四轮驱动 联合估计 模糊路面识别 驱动防滑 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]