关键词: 电动汽车, 分布式驱动, 驱动防滑控制, 直接限制转矩

Abstract: The most remarkable feature of distributed electric drive vehicle is that one drive system is fitted into each driving wheel, and these drive systems can be controlled independently, which provides convenient condition for accurate chassis dynamics control. But, when the vehicle is strong driving on low adhesion roads, the unbalance driving force of left and right sides is easily cause the vehicle lateral instability. So, the traction control system is needed to be established on the dynamic equal drive torque control to ensure the stability of the vehicle driving. Based on the nonlinear characteristics between tire driving force and road surface adhesion coefficient, an acceleration slip regulation named direct limit torque control was put forward only using the drive motor speed and torque feedback results. After joint the optimal slip ratio proportional-integral(PI) control and the dynamic equal torque control in it, a torque adaptive traction control system was developed, and the vehicle drive performance simulation and road test have been done on a split road. Research results show that, the developed controller can make the slip ratio of the driving wheel on low adhesion roads close to the optimal value and at the same time realize the smooth control of motor’s drive torque, which reduce the control strength of motors and the impact of transmission system, can effectively guarantee the lateral stability of distributed drive electric vehicle.

Key words: Direct limit torque, Distributed drive, Electric vehicle, Traction control