Robust Adaptive ASR Control for In-wheel Motor Driving Electric Vehicle Considering Longitudinal Tire Lag

doi:10.3901/JME.2023.14.222

Abstract

Abstract: It is more likely for In-wheel motor driving electric vehicle to skid at the start, and the body shock is more serious during acceleration. Considering the influence of tire lag, LPV-based Robust performance-guaranteed pole-placement ASR controller is proposed to solve these problems. Combining the traditional wheel dynamic model and the tire lag, the lagged wheel dynamic model is established. It is proved that the tire lag contributes to the oscillation of wheel slip ratio. For the purpose of preventing the wheel skid as well as alleviating the oscillation of the slip ratio, the performance-guaranteed pole-placement algorithm is adopted for the design of anti-skid strategy. Considering the influence of perturbation parameters and time-varying parameters, robust control and gain-scheduled methods are used to guarantee the stability of slip ratio tracking. Simulation and experiment results confirm the robustness and adaptiveness of the designed ASR controller. Compared with the traditional ASR controller, the oscillation of slip ratio is alleviated and the longitudinal comfort is improved during acceleration.

Key words: in-wheel motor driving electric vehicle, acceleration slip regulation, tire lag, robust control

CLC Number:

TG156

SHEN Tong, YIN Guodong, REN Yanjun, WANG Fanxun, LIANG Jinhao, SHA Wenhan. Robust Adaptive ASR Control for In-wheel Motor Driving Electric Vehicle Considering Longitudinal Tire Lag[J]. Journal of Mechanical Engineering, 2023, 59(14): 222-236.

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