线控四轮独立驱动轮毂电机电动汽车稳定性与节能控制研究
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摘要
安全、节能与环保是汽车发展的方向和永恒主题，尤其在当今交通事故频发、世界能源紧张和环境日益恶化的今天尤为重要。特别是近些年来，迫于节能与环保压力，各种形式的电动汽车正在成为全球汽车工业研发的焦点，基于轮毂电机的四轮独立驱动电动汽车是其中较有前景的一种。基于轮毂电机的四轮独立驱动电动汽车，各轮的运动状态可以相互独立，之间并无硬性的机械连接，大大提高了传动效率，降低了整车整备质量，简化了汽车结构，有利于增加电动汽车续驶里程，因此轮毂电机被认为是电动汽车的最终驱动形式。四轮独立驱动轮毂电机电动汽车四轮驱动力矩独立可控，便于采用线控技术和线控转向等线控系统进行集成控制，相对于传统内燃机汽车具有更多的可控自由度，是研究新一代车辆控制技术、探索车辆最优动力学性能的理想载体。
本文研究依托国家863计划项目（2012AA110904）“电动汽车底盘动力学控制系统开发”和国家自然科学基金资助项目（50775096）“线控汽车底盘控制方法和关键技术研究”、国家自然科学基金资助项目青年科学基金（51105165）“线控转向系统操纵杆及其双向控制方法研究”，在总结国内外相关研究成果基础上，利用四轮独立驱动轮毂电机电动汽车四轮独立驱动且易于和线控制动、线控转向等线控系统实现集成控制的优势，进行了线控四轮独立驱动轮毂电机电动汽车稳定性与节能控制方法的研究，从电动汽车仿真平台开发、基于模糊理论路面识别的驱动防滑控制、驱动转向集成控制、基于电机效率图的节能控制和驱动转向集成控制算法实车实验验证等方面开展了一系列研究工作，主要内容如下：
（1）电动汽车仿真平台开发
电动汽车仿真平台包括动力学模型建模和根据研究内容所确定的整车控制架构两部分。针对控制算法验证需要，采用模块化思想，应用MATLAB/Simulink软件建立了含有电机模型的能够基本反映四轮独立驱动轮毂电机电动汽车动态特性的动力学模型。模型具有车体6个自由度，四个车轮的转动和垂直跳动8个自由度，前轮转角1个自由度，共15自由度。应用商用软件CarSim对模型进行验证。根据所研究内容确定了整车控制架构，为在原有车辆仿真模型基础上搭建各种控制算法模块奠定了基础。电动汽车仿真平台可实现多种工况下的仿真与控制研究。
（2）基于模糊理论路面识别的驱动防滑控制研究
结合四轮独立驱动轮毂电机电动汽车四轮驱动力矩独立可控和转矩、转速易于测得的特点，应用无轨卡尔曼滤波UKF理论设计了车速估计算法，实现对电动车纵向车速、侧向车速及质心侧偏角的准确估计；研究了基于模糊理论路面识别的驱动防滑控制方法，实现电动汽车驱动轮在小滑转率、小附着系数区域路面行驶时的路面附着系数和最优滑转率的主动预估，从而实现驱动防滑系统ASR进行更为精确的控制，提高其行驶动力性和稳定性，并通过对接路面、对开路面仿真试验验证了所研究算法的有效性和准确性。
（3）驱动转向集成控制研究
利用四轮独立驱动轮毂电机电动汽车便于采用线控技术同线控转向系统进行集成控制的优势，基于模型预测控制理论研究了主动前轮转向与主动驱动横摆力矩集成控制算法，即驱动转向集成控制算法。确定了分层控制结构，设计了模型预测集成控制器，研究了规则驱动力分配方法和以总的轮胎负荷率最小化为目标的二次规划驱动力分配方法，并通过仿真试验对所研究算法进行了验证。仿真结果表明，集成控制算法能够实现电动汽车有效跟踪期望，提高其极限工况下行驶稳定性和主动安全性。
（4）基于电机效率图的节能控制研究
电动汽车主要在城市工况下安全行驶，频繁进行加速和减速，车速变化范围大，驱动和制动时电机效率变化范围大。结合四轮独立驱动电动汽车四轮驱动力矩独立可控的特点，基于电机效率图研究了通过驱动力矩合理分配和进行再生制动实现节能控制的方法。驱动节能控制通过建立节能目标函数和约束条件，并对约束条件进行适当简化，在线实时优化四轮驱动力矩，提高驱动效率。再生制动考虑理想制动力分配理论和ECE法规，研究了适于四轮轮毂电机的并行再生制动控制方法，通过在NEDC、UDDS、J1015三种典型城市循环工况下的仿真分析，合理确定前轴单独再生制动的制动强度，提高电动车低速、小制动力矩需求的制动能量回收率。最后在NEDC、UDDS、J1015三种典型城市工况下，对节能控制方法进行仿真试验验证。仿真结果表明，节能控制方法提高了节能效率，节能效果明显。
（5）驱动转向集成控制算法实车实验
为验证实验车的可靠性，通过直线加速功能实验、转向功能实验和四轮独立驱动功能实验对实验车进行了功能性实验验证。根据实车条件，选择方向盘角阶跃输入实验和方向盘角正弦输入实验工况对驱动转向集成控制算法的有效性进行了实验验证。实验结果表明，实验车满足集成控制算法验证功能需要，集成控制算法能够有效控制电动车运动跟踪期望，具有良好的控制效果。
通过以上研究工作，论文在以下几个方面有所创新：
（1）针对四轮独立驱动轮毂电机电动汽车驱动防滑控制问题，利用其四轮驱动力矩独立可控、转速和转矩易于测得的特点，基于模糊控制理论并结合驱动防滑控制策略，提出了基于模糊理论路面识别的驱动防滑控制方法，实现了汽车驱动轮在小滑转率、小附着系数区域路面行驶时的路面附着系数及最优滑转率的主动预估和更为准确的驱动防滑控制，从而达到充分利用路面附着条件、提高车辆行驶动力性和稳定性的目的。
（2）针对四轮独立驱动轮毂电机电动汽车线控驱动系统和线控转向系统集成控制问题，基于模型预测控制理论，设计了主动前轮转向与主动驱动横摆力矩的集成控制算法，即驱动转向集成控制算法。确定了分层集成控制结构，选用不依赖于精确数学模型、可以实现闭环校正反馈的模型预测控制理论设计了模型预测集成控制器，研究了规则驱动力分配方法和以总的轮胎负荷率最小化为目标的二次规划驱动力分配方法，提高了电动汽车极限工况下的稳定性和主动安全性。
（3）针对四轮独立驱动轮毂电机电动汽车城市工况下安全行驶时的节能控制问题，提出了基于电机效率图的驱/制动节能控制方法。驱动时，通过优化前后轮驱动力矩提高驱动效率，实现驱动节能控制；制动时，基于电机效率图，根据理想制动力分配理论和ECE法规设计了适合四轮独立驱动轮毂电机电动汽车的并行再生制动控制方法，通过典型工况仿真分析合理确定前轴单独工作制动强度，提高电动车低速、小制动力矩需求时的制动能量回收率。节能控制方法简单易行，节能效果明显。
Safety, energy saving and environmental protection are the direction of the vehicledevelopment and eternal theme,which is particularly important for today's world in whichthere are frequent traffic accidents,energy crisis and deteriorating environment.Especiallyin recent years, forced by the pressure of the energy saving and environmental protection,the various forms of electric vehicles are becoming the focus of research and developmentof the global automotive industry.The four-wheel independent drive electric vehicles basedon in-wheel motor is the more promising one.The state of motion of each wheel for thefour-wheel independent drive electric vehicle based on in-wheel motor are independentlyand there are no rigid mechanical connections between them which improve thetransmission efficiency greatly, simplify the car structure, reduce the weight and help toincrease the driving distance.So the in-wheel motor is called the final drive form of theelectric vehicles.The four-wheel drive torque is independently controllable for four-wheelindependent drive in-wheel motor electric vehicle and it is easy to make integrated controlwith steer-by-wire system and other X-by-wire systems using X-by-wire technology.Thereis more controllable degree of freedom compared with traditional internal combustionengine vehicles for the four-wheel independent drive electric vehicle.It is the ideal carrierfor studying the new generation of vehicle control technology and exploring the optimalvehicle dynamics performance.
Summarize the domestic and foreign correlation research results, and make use of theadvantages of four-wheel independent drive and integrated control with the brake-by-wiresystem, steer-by-wire and other X-by-wire systems, a series of study work is done as forsimulation platform developed for the electric, acceleration slip regulation control based onfuzzy theory road identification, drive and steer integrated control algorithm, the energy saving control based on the motor efficiency map and the real vehicle experiments forintegrated control algorithm.The study is based on the National863Project(2012AA110904)“Electric vehicle chassis dynamics control system development” andNational Natural Science Fund Project (50775096)“Drive-by-wire chassis control methodsand key technology research”, the National Natural Science Fund Project Youth ScienceFund (51105165)“Research steer-by-wire system joystick and bidirectional controlmethod”.The main contents are as follows:
(1)Simulation platform developed for electric vehicle
For the requirement of the control algorithm validation, establish the kinetic modelcontaining motor model by MATLAB/Simulink software with modular thinking.The modelcan basically reflect the four independent in-wheel motor electric vehicle dynamiccharacteristics.The model included15degrees of freedom: six degrees of freedom of thevehicle body, eight degrees of freedom of the rotation and the vertical jump of the fourwheels, one front wheel angle.The model was verified by commercial softwareCarSim.According to the study contents,determine the vehicle control architecture,whichwas easy to build the control algorithm module. The electric vehicle simulation platformcan achieve the study of simulation and control in a variety of operating conditions.
(2)Study on acceleration slip regulation control based on fuzzy theory roadidentification
Combine with the characteristics of four-wheel drive torque independently andmeasuring speed and torque easily, the vehicle velocity estimation algorithm was designedbased on the Unscented Kalman Filter (UKF) theory and estimate electric vehiclelongitudinal speed, lateral speed and sideslip angle accurately. The road adhesioncoefficient was estimated proactively when the electric vehicle drive wheels drive in thesmall slip rate and the small adhesion coefficient region road and make the ASR system formore precise control.The methods were verified by the simulation in the docking road andsplit road.
(3) Study on drive and steer integrated control
Make use of the advantages of integrated control with the steer-by-wire system for theelectric vehicle with four-wheel independent drive in-wheel motors, the active frontsteering and the active drive yaw control integrated control algorithm that drive and steerintegrated control algorithm based on model predictive control theory wasstudied.Determine the hierarchical control structure, design the model predictive controlintegrated controller, study the rules driving force and the quadratic programming drivingforce distribution method which makes the the total tire load rate minimum.The integratedcontrol algorithm was verified by simulation experiments.The simulation results showedthat the integrated control algorithm enables electric vehicles track the expectationeffectively and enhance the vehicle stability and active safety in extreme conditions.
(4) Study on the energy saving control based on the motor efficiency map
Electric vehicle mainly work in urban conditions. Because of the frequent accelerationand deceleration, the vehicle speed changes in a large range and the motors’driving/braking efficiency varies a lot.Combine with the character of the four-wheelindependent drive independently, energy saving control methods including drive energyconservation and regenerative braking were studied based on the efficiency map of themotor. Establish the energy saving target function and constraints, online real-timeoptimize the four-wheel drive torque, enhance the drive efficiency in drive energy saving.Based on the ideal braking force distribution theory and ECE regulations, parallelregenerative braking control method was studied to suit for four-wheel independent drivein-wheel motor electric vehicle. The braking intensity when the front axle separateregenerative braking was determined reasonably through simulation analysis of NEDC,UDDS and J1015typical urban cycle conditions and improve electric vehicle brakingenergy recovery rate in the low speed and low braking torque. Finally, the energy savingcontrol methods were verified in the NEDC, UDDS and J1015urban conditions’ simulationexperiments.The simulation results showed that energy-saving control methods improvethe energy efficiency and the energy saving effect was obvious.
(5) Real vehicle experiment for drive and steer integrated control algorithm
The straight line acceleration test, the steering function test and four-wheelindependent drive test were used to verify the functions and reliability of the electricvehicle. According to the conditions of the real vehicle, the step steering wheel angle inputand the sinusoidal steering wheel angle input experiments were used to validate theeffectiveness of the integrated control algorithm.
Through the above study, the paper innovations are in the following aspects:
(1)For the ASR control problem of the electric vehicle with the four-wheelindependent in-wheel motors, combine with the characteristics of four-wheel drive torqueindependently and measuring speed and torque easily, the acceleration slip regulationcontrol method based on fuzzy theory road identification was put forward. The roadadhesion coefficient was estimated proactively when the electric vehicle drive wheels drivein the small slip rate, the small adhesion coefficient region road,which makes the ASRsystem more precise control and make full use of the road adhesion coefficient to improvevehicle power performance and stability.
(2)For the problem of four-wheel independent drive in-wheel motor electric vehicleintegrated with steer-by-wire system, the active drive yaw control and the active frontsteering integrated control algorithm that drive and steer integrated control algorithm basedon model predictive control theory was designed. Determine the hierarchical controlstructure, design the model predictive control integrated controller based on the modelpredictive control theory which doesn’t depend on the precise mathematics model and canrealize the closed loop correction feedback. The rules driving force method and quadraticprogramming driving force distribution method which makes the the total tire load rateminimum were studied.The integrated control algorithm can effectively improve thevehicle stability and active safety of the electric vehicle in extreme conditions.
(3)For the problem energy saving control in urban conditions of t the electric vehiclewith the four-wheel independent in-wheel motors, the energy saving control method basedon the motor efficiency map driving/braking was put forward.Achieve drive energy savingcontrol by optimizing the driving moment of front and rear wheels and improve the drive efficiency.According to the ideal braking force distribution theory and ECE regulations,parallel regenerative braking control method was studied to suit for four-wheel independentdrive in-wheel motors electric vehicle based on the motor efficiency map.The brakingintensity when the front axle separate regenerative braking was determined reasonablythrough typical urban cycle conditions simulation and improve electric vehicle brakingenergy recovery rate in the low-speed low and low braking torque.The energy-savingcontrol method was simple and the energy saving effect was obvious.
本文研究依托国家863计划项目（2012AA110904）“电动汽车底盘动力学控制系统开发”和国家自然科学基金资助项目（50775096）“线控汽车底盘控制方法和关键技术研究”、国家自然科学基金资助项目青年科学基金（51105165）“线控转向系统操纵杆及其双向控制方法研究”，在总结国内外相关研究成果基础上，利用四轮独立驱动轮毂电机电动汽车四轮独立驱动且易于和线控制动、线控转向等线控系统实现集成控制的优势，进行了线控四轮独立驱动轮毂电机电动汽车稳定性与节能控制方法的研究，从电动汽车仿真平台开发、基于模糊理论路面识别的驱动防滑控制、驱动转向集成控制、基于电机效率图的节能控制和驱动转向集成控制算法实车实验验证等方面开展了一系列研究工作，主要内容如下：
（1）电动汽车仿真平台开发
电动汽车仿真平台包括动力学模型建模和根据研究内容所确定的整车控制架构两部分。针对控制算法验证需要，采用模块化思想，应用MATLAB/Simulink软件建立了含有电机模型的能够基本反映四轮独立驱动轮毂电机电动汽车动态特性的动力学模型。模型具有车体6个自由度，四个车轮的转动和垂直跳动8个自由度，前轮转角1个自由度，共15自由度。应用商用软件CarSim对模型进行验证。根据所研究内容确定了整车控制架构，为在原有车辆仿真模型基础上搭建各种控制算法模块奠定了基础。电动汽车仿真平台可实现多种工况下的仿真与控制研究。
（2）基于模糊理论路面识别的驱动防滑控制研究
结合四轮独立驱动轮毂电机电动汽车四轮驱动力矩独立可控和转矩、转速易于测得的特点，应用无轨卡尔曼滤波UKF理论设计了车速估计算法，实现对电动车纵向车速、侧向车速及质心侧偏角的准确估计；研究了基于模糊理论路面识别的驱动防滑控制方法，实现电动汽车驱动轮在小滑转率、小附着系数区域路面行驶时的路面附着系数和最优滑转率的主动预估，从而实现驱动防滑系统ASR进行更为精确的控制，提高其行驶动力性和稳定性，并通过对接路面、对开路面仿真试验验证了所研究算法的有效性和准确性。
（3）驱动转向集成控制研究
利用四轮独立驱动轮毂电机电动汽车便于采用线控技术同线控转向系统进行集成控制的优势，基于模型预测控制理论研究了主动前轮转向与主动驱动横摆力矩集成控制算法，即驱动转向集成控制算法。确定了分层控制结构，设计了模型预测集成控制器，研究了规则驱动力分配方法和以总的轮胎负荷率最小化为目标的二次规划驱动力分配方法，并通过仿真试验对所研究算法进行了验证。仿真结果表明，集成控制算法能够实现电动汽车有效跟踪期望，提高其极限工况下行驶稳定性和主动安全性。
（4）基于电机效率图的节能控制研究
电动汽车主要在城市工况下安全行驶，频繁进行加速和减速，车速变化范围大，驱动和制动时电机效率变化范围大。结合四轮独立驱动电动汽车四轮驱动力矩独立可控的特点，基于电机效率图研究了通过驱动力矩合理分配和进行再生制动实现节能控制的方法。驱动节能控制通过建立节能目标函数和约束条件，并对约束条件进行适当简化，在线实时优化四轮驱动力矩，提高驱动效率。再生制动考虑理想制动力分配理论和ECE法规，研究了适于四轮轮毂电机的并行再生制动控制方法，通过在NEDC、UDDS、J1015三种典型城市循环工况下的仿真分析，合理确定前轴单独再生制动的制动强度，提高电动车低速、小制动力矩需求的制动能量回收率。最后在NEDC、UDDS、J1015三种典型城市工况下，对节能控制方法进行仿真试验验证。仿真结果表明，节能控制方法提高了节能效率，节能效果明显。
（5）驱动转向集成控制算法实车实验
为验证实验车的可靠性，通过直线加速功能实验、转向功能实验和四轮独立驱动功能实验对实验车进行了功能性实验验证。根据实车条件，选择方向盘角阶跃输入实验和方向盘角正弦输入实验工况对驱动转向集成控制算法的有效性进行了实验验证。实验结果表明，实验车满足集成控制算法验证功能需要，集成控制算法能够有效控制电动车运动跟踪期望，具有良好的控制效果。
通过以上研究工作，论文在以下几个方面有所创新：
（1）针对四轮独立驱动轮毂电机电动汽车驱动防滑控制问题，利用其四轮驱动力矩独立可控、转速和转矩易于测得的特点，基于模糊控制理论并结合驱动防滑控制策略，提出了基于模糊理论路面识别的驱动防滑控制方法，实现了汽车驱动轮在小滑转率、小附着系数区域路面行驶时的路面附着系数及最优滑转率的主动预估和更为准确的驱动防滑控制，从而达到充分利用路面附着条件、提高车辆行驶动力性和稳定性的目的。
（2）针对四轮独立驱动轮毂电机电动汽车线控驱动系统和线控转向系统集成控制问题，基于模型预测控制理论，设计了主动前轮转向与主动驱动横摆力矩的集成控制算法，即驱动转向集成控制算法。确定了分层集成控制结构，选用不依赖于精确数学模型、可以实现闭环校正反馈的模型预测控制理论设计了模型预测集成控制器，研究了规则驱动力分配方法和以总的轮胎负荷率最小化为目标的二次规划驱动力分配方法，提高了电动汽车极限工况下的稳定性和主动安全性。
（3）针对四轮独立驱动轮毂电机电动汽车城市工况下安全行驶时的节能控制问题，提出了基于电机效率图的驱/制动节能控制方法。驱动时，通过优化前后轮驱动力矩提高驱动效率，实现驱动节能控制；制动时，基于电机效率图，根据理想制动力分配理论和ECE法规设计了适合四轮独立驱动轮毂电机电动汽车的并行再生制动控制方法，通过典型工况仿真分析合理确定前轴单独工作制动强度，提高电动车低速、小制动力矩需求时的制动能量回收率。节能控制方法简单易行，节能效果明显。
Safety, energy saving and environmental protection are the direction of the vehicledevelopment and eternal theme,which is particularly important for today's world in whichthere are frequent traffic accidents,energy crisis and deteriorating environment.Especiallyin recent years, forced by the pressure of the energy saving and environmental protection,the various forms of electric vehicles are becoming the focus of research and developmentof the global automotive industry.The four-wheel independent drive electric vehicles basedon in-wheel motor is the more promising one.The state of motion of each wheel for thefour-wheel independent drive electric vehicle based on in-wheel motor are independentlyand there are no rigid mechanical connections between them which improve thetransmission efficiency greatly, simplify the car structure, reduce the weight and help toincrease the driving distance.So the in-wheel motor is called the final drive form of theelectric vehicles.The four-wheel drive torque is independently controllable for four-wheelindependent drive in-wheel motor electric vehicle and it is easy to make integrated controlwith steer-by-wire system and other X-by-wire systems using X-by-wire technology.Thereis more controllable degree of freedom compared with traditional internal combustionengine vehicles for the four-wheel independent drive electric vehicle.It is the ideal carrierfor studying the new generation of vehicle control technology and exploring the optimalvehicle dynamics performance.
Summarize the domestic and foreign correlation research results, and make use of theadvantages of four-wheel independent drive and integrated control with the brake-by-wiresystem, steer-by-wire and other X-by-wire systems, a series of study work is done as forsimulation platform developed for the electric, acceleration slip regulation control based onfuzzy theory road identification, drive and steer integrated control algorithm, the energy saving control based on the motor efficiency map and the real vehicle experiments forintegrated control algorithm.The study is based on the National863Project(2012AA110904)“Electric vehicle chassis dynamics control system development” andNational Natural Science Fund Project (50775096)“Drive-by-wire chassis control methodsand key technology research”, the National Natural Science Fund Project Youth ScienceFund (51105165)“Research steer-by-wire system joystick and bidirectional controlmethod”.The main contents are as follows:
(1)Simulation platform developed for electric vehicle
For the requirement of the control algorithm validation, establish the kinetic modelcontaining motor model by MATLAB/Simulink software with modular thinking.The modelcan basically reflect the four independent in-wheel motor electric vehicle dynamiccharacteristics.The model included15degrees of freedom: six degrees of freedom of thevehicle body, eight degrees of freedom of the rotation and the vertical jump of the fourwheels, one front wheel angle.The model was verified by commercial softwareCarSim.According to the study contents,determine the vehicle control architecture,whichwas easy to build the control algorithm module. The electric vehicle simulation platformcan achieve the study of simulation and control in a variety of operating conditions.
(2)Study on acceleration slip regulation control based on fuzzy theory roadidentification
Combine with the characteristics of four-wheel drive torque independently andmeasuring speed and torque easily, the vehicle velocity estimation algorithm was designedbased on the Unscented Kalman Filter (UKF) theory and estimate electric vehiclelongitudinal speed, lateral speed and sideslip angle accurately. The road adhesioncoefficient was estimated proactively when the electric vehicle drive wheels drive in thesmall slip rate and the small adhesion coefficient region road and make the ASR system formore precise control.The methods were verified by the simulation in the docking road andsplit road.
(3) Study on drive and steer integrated control
Make use of the advantages of integrated control with the steer-by-wire system for theelectric vehicle with four-wheel independent drive in-wheel motors, the active frontsteering and the active drive yaw control integrated control algorithm that drive and steerintegrated control algorithm based on model predictive control theory wasstudied.Determine the hierarchical control structure, design the model predictive controlintegrated controller, study the rules driving force and the quadratic programming drivingforce distribution method which makes the the total tire load rate minimum.The integratedcontrol algorithm was verified by simulation experiments.The simulation results showedthat the integrated control algorithm enables electric vehicles track the expectationeffectively and enhance the vehicle stability and active safety in extreme conditions.
(4) Study on the energy saving control based on the motor efficiency map
Electric vehicle mainly work in urban conditions. Because of the frequent accelerationand deceleration, the vehicle speed changes in a large range and the motors’driving/braking efficiency varies a lot.Combine with the character of the four-wheelindependent drive independently, energy saving control methods including drive energyconservation and regenerative braking were studied based on the efficiency map of themotor. Establish the energy saving target function and constraints, online real-timeoptimize the four-wheel drive torque, enhance the drive efficiency in drive energy saving.Based on the ideal braking force distribution theory and ECE regulations, parallelregenerative braking control method was studied to suit for four-wheel independent drivein-wheel motor electric vehicle. The braking intensity when the front axle separateregenerative braking was determined reasonably through simulation analysis of NEDC,UDDS and J1015typical urban cycle conditions and improve electric vehicle brakingenergy recovery rate in the low speed and low braking torque. Finally, the energy savingcontrol methods were verified in the NEDC, UDDS and J1015urban conditions’ simulationexperiments.The simulation results showed that energy-saving control methods improvethe energy efficiency and the energy saving effect was obvious.
(5) Real vehicle experiment for drive and steer integrated control algorithm
The straight line acceleration test, the steering function test and four-wheelindependent drive test were used to verify the functions and reliability of the electricvehicle. According to the conditions of the real vehicle, the step steering wheel angle inputand the sinusoidal steering wheel angle input experiments were used to validate theeffectiveness of the integrated control algorithm.
Through the above study, the paper innovations are in the following aspects:
(1)For the ASR control problem of the electric vehicle with the four-wheelindependent in-wheel motors, combine with the characteristics of four-wheel drive torqueindependently and measuring speed and torque easily, the acceleration slip regulationcontrol method based on fuzzy theory road identification was put forward. The roadadhesion coefficient was estimated proactively when the electric vehicle drive wheels drivein the small slip rate, the small adhesion coefficient region road,which makes the ASRsystem more precise control and make full use of the road adhesion coefficient to improvevehicle power performance and stability.
(2)For the problem of four-wheel independent drive in-wheel motor electric vehicleintegrated with steer-by-wire system, the active drive yaw control and the active frontsteering integrated control algorithm that drive and steer integrated control algorithm basedon model predictive control theory was designed. Determine the hierarchical controlstructure, design the model predictive control integrated controller based on the modelpredictive control theory which doesn’t depend on the precise mathematics model and canrealize the closed loop correction feedback. The rules driving force method and quadraticprogramming driving force distribution method which makes the the total tire load rateminimum were studied.The integrated control algorithm can effectively improve thevehicle stability and active safety of the electric vehicle in extreme conditions.
(3)For the problem energy saving control in urban conditions of t the electric vehiclewith the four-wheel independent in-wheel motors, the energy saving control method basedon the motor efficiency map driving/braking was put forward.Achieve drive energy savingcontrol by optimizing the driving moment of front and rear wheels and improve the drive efficiency.According to the ideal braking force distribution theory and ECE regulations,parallel regenerative braking control method was studied to suit for four-wheel independentdrive in-wheel motors electric vehicle based on the motor efficiency map.The brakingintensity when the front axle separate regenerative braking was determined reasonablythrough typical urban cycle conditions simulation and improve electric vehicle brakingenergy recovery rate in the low-speed low and low braking torque.The energy-savingcontrol method was simple and the energy saving effect was obvious.
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