An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control  

作　　者：Han Zhang Changzhi Zhou Chunyan Wang Wanzhong Zhao 

机构地区：[1]Vehicle Distributed Drive and Intelligent Wire Control Technology Research Center of Jiangsu Province,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China

出　　处：《Chinese Journal of Mechanical Engineering》2023年第2期302-313,共12页中国机械工程学报（英文版）

基　　金：Supported by Jiangsu Provincial Key R&D Plan (Grant No.BE2022053);Youth Fund of Jiangsu Provincial Natural Science Foundation (Grant No.BK20200423);National Natural Science Foundation of China (Grant No.5210120245)。

摘　　要：This paper presents an energy-efficient control strategy for electric vehicles(EVs)driven by in-wheel-motors(IWMs)based on discrete adaptive sliding mode control(DASMC).The nonlinear vehicle model,tire model and IWM model are established at first to represent the operation mechanism of the whole system.Based on the modeling,two virtual control variables are used to represent the longitudinal and yaw control efforts to coordinate the vehicle motion control.Then DASMC method is applied to calculate the required total driving torque and yaw moment,which can improve the tracking performance as well as the system robustness.According to the vehicle nonlinear model,the additional yaw moment can be expressed as a function of longitudinal and lateral tire forces.For further control scheme development,a tire force estimator using an unscented Kalman filter is designed to estimate real-time tire forces.On these bases,energy efficient torque allocation method is developed to distribute the total driving torque and differential torque to each IWM,considering the motor energy consumption,the tire slip energy consumption,and the brake energy~?recovery.Simulation results of the proposed control strategy using the co-platform of Matlab/Simulink and CarSim way.

关 键 词：Electric vehicle Energy optimization Motion control Discrete adaptive sliding mode control 

分 类 号：U469.72[机械工程—车辆工程]