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

doi:10.12141/j.issn.1000-565X.240330

Abstract

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 traction control strategy often fails to meet the requirements of diverse and complex driving conditions and cannot ensure optimal overall driving performance. To address this limitation, this study proposed a multi-mode traction control strategy that is responsive, precise, and adaptable to various complex driving scenarios. Firstly, to meet performance requirements under varying driving conditions, a set of driving modes and mode-switching strategies was developed based on a seven-degree-of-freedom distributed drive vehicle model. Secondly, using the adhesion characteristic curves of six standard road surfaces derived from the Burckhardt tire model, an optimized linear interpolation algorithm was applied to propose a road surface recognition fusion algorithm. This algorithm computes the optimal slip ratio, which serves as the control target for a nonlinearly tuned PID controller designed to manage power distribution and mode switching. Finally, a CarSim vehicle model and an acceleration slip regulation control model in Matlab/Simulink were 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 acceleration slip regulation performance.

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

CLC Number:

U461.6

ZHU Shaopeng, MAO Jingyang, LIU Dongqing, YIN Yuming, CHEN Huipeng, XU Yekai. Design of Acceleration Slip Regulation Multi-Mode Control Strategy of Distributed Drive Electric Vehicle[J]. Journal of South China University of Technology(Natural Science Edition), 2025, 53(6): 44-55.

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参数	数值
整车质量/kg	3 000
质心高度/m	0.650
质心到前轴的距离/m	1.500
质心到后轴的距离/m	1.500
轴距/m	3.000
轮距/m	1.680
轮胎滚动半径/m	0.355
横摆转动惯量/（kg·m²）	2 059

路面附着系数	调节时间/s			路面附着系数	调节时间/s
0.4	0.1		0.2		0.7
0.3	0.3		0.1		1.2

路面附着系数		调节时间/s	路面附着系数					调节时间/s
驶入前	驶入后	调节时间/s		驶入前		驶入后		调节时间/s
0.9	0.3	0.4	0.7		0.3		0.4
0.9	0.2	1.1	0.7		0.2		1.0
0.9	0.1	1.4	0.7		0.1		1.3
0.8	0.3	0.4	0.6		0.3		0.4
0.8	0.2	1.0	0.6		0.2		1.0
0.8	0.1	1.3	0.6		0.1		1.3

路面附着系数		加速时间/s	侧向位移/m
左侧	右侧	加速时间/s	侧向位移/m
0.9	0.3	1.0	-0.60
0.9	0.2	1.1	-0.98
0.9	0.1	1.3	-1.32
0.8	0.3	1.0	-0.63
0.8	0.2	1.2	-1.13
0.8	0.1	1.3	-1.41
0.7	0.3	1.1	-0.68
0.7	0.2	1.2	-1.17
0.7	0.1	1.4	-1.48

路面附着系数	最大爬坡度/%			路面附着系数	最大爬坡度/%
0.1	9		0.3		26
0.2	18		0.4		35