Journal of South China University of Technology(Natural Science Edition) ›› 2025, Vol. 53 ›› Issue (6): 44-55.doi: 10.12141/j.issn.1000-565X.240330

• Vehicle Engineering • Previous Articles     Next Articles

Design of Acceleration Slip Regulation Multi-Mode Control Strategy of Distributed Drive Electric Vehicle

ZHU Shaopeng1,5  MAO Jingyang1  LIU Dongqing2  YIN Yuming3  CHEN Huipeng4  XU Yekai1   

  1. 1. Power Machinery & Vehicle Engineering Institute, Zhejiang University, Hangzhou 310012, China;

    2. CRSC Research & Design Institute Group Co., Ltd., Beijing 100070, China;

    3. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023;

    4. School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China;

    5. Jiaxing Research Institute, Zhejiang University, Jiaxing 314011

  • Online:2025-06-25 Published:2024-09-27

Abstract:

Distributed drive electric vehicles can independently and accurately control the driving torque of each wheel to achieve acceleration slip regulation control. However, a single acceleration slip regulation strategy is difficult to meet the requirements of various complex driving conditions, and cannot guarantee the optimal comprehensive driving performance of the vehicle. Therefore, an acceleration slip regulation multi-mode control strategy that responds quickly and controls accurately is proposed to adapt to various complex working conditions. Firstly, addressing the performance requirements under different driving conditions, corresponding drive modes and switching strategy are designed based on the seven-degree-of-freedom distributed drive vehicle model. Secondly, based on the adhesion characteristic curves of six standard road surfaces using the Burckhardt tire model, and utilizing an optimized linear interpolation algorithm, a road surface recognition fusion algorithm is proposed to calculate the optimal slip ratio, which is used as the control target to design a PID controller with nonlinear parameter tuning for power distribution control and switching. Finally, a CarSim vehicle model and an acceleration slip regulation control model in Matlab/Simulink are established and co-simulation verification was conducted on low adhesion road, joint road, bisectional road, low adhesion slope, and bisectional slope. Simulation results show that the road surface recognition strategy can accurately identify the adhesion coefficient of the road, the acceleration slip regulation control strategy can quickly respond and accurately switch between different modes under different working conditions, balancing dynamics performance and stability performance, and effectively improve anti-skid performance.

Key words: distributed drive, electric vehicle, acceleration slip regulation control, road surface recognition