Design and Implementation of TCS Sliding Mode Predictive Control System for Four-wheel Drive Electric Racing Vehicle
To solve the problem that four-wheel drive formula electric racing vehicles excessively slip under different road condi-tions,a traction control system combining Kalman filter for estimating speed and sliding mode control is presented to improve acceler-ation performance on straight track,reduce the driving wheel slip to ensure the stability and safety of vehicles.The controller takes the slip rate as the variable,the torque of each driving wheel is adjusted to ensure that the slip rate is controlled within an optimal range.accurate vehicle speed is obtained a prerequisite for calculating the optimal slip rate,Kalman filter is designed to estimate the speed of vehicles.To solve the inherent chattering phenomenon of sliding mode control,this paper gives an improved exponential con-vergence rate to ensure the stability.Through the simulation between Matlab/Simulink and CARSIM,the effectiveness of the control system is verified.Finally,the test and application of vehicles are accomplished,the control system is ultimately verified to meet the requirements of rapid and stable acceleration for 4WD formula electric racing vehicle.
4WD four-wheel drive electric racing vehicleKalman filterTCS control systemsliding mode controlbuffeting
NETL
NSTL
万方数据
