Adaptive Torque Control In-Wheel-Motor Driven Vehicles Based on Pavement Impact Factors
To achieve multi-objective optimization of power performance and stability for in-wheel-motor driven off-road vehicles in complex environments with variable adhesion conditions and undulating road surfaces,the paper proposed an adaptive torque control strategy based on pavement impact factors.Five characteristic parameters,namely,the difference in rolling resistance,normalized proportion of air resistance,normalized proportion of ramp resistance,variance of road adhesion difference and the minimum road adhesion coefficient,were used as inputs to establish a five-parameter identification model of pavement impact factors based on fuzzy theory.Considering the identified pavement impact factors,an adaptive torque control strategy was developed for the multi-objective optimization of vehicle power performance and stability,and a three-layer control architecture was constructed.At the top of the strategy,the pavement impact factors are introduced to determine the urgency of acceleration,and the model predictive control algorithm is used to obtain the desired total driving force.The middle layer serves as the target decision-making layer,which governs the anti-skid torque based on the optimal slip rate,and determines the desired feedforward compensation torque according to the road resistance.The base layer servers as the torque distribution level,taking the total demand driving force and the tire utilization ratio as the control objectives.It introduces the pavement impact factors to optimize the weight coefficients of these two objectives.A hybrid optimization algorithm with multiple constraints is applied for adaptive torque control.Simulations were conducted using the Matlab/Simulink-CarSim co-simulation platform,with real vehicle trials for verification.The results show that on low-adhesion road surfaces,the wheel slip control can be achieved rapidly within 0.2 s.On the split road surfaces,the lateral displacement is nearly negligible,showing excellent lateral stability.On highly twisted road surfaces,the system prevents large slip rates of the free-spinning wheel from exceeding 0.2.
in-wheel-motor driven electric vehiclefuzzy controlpavement influence factoradaptive torque control
国家科技期刊平台
NSTL
万方数据
维普
