| Four-wheel independent drive(4WID) electric vehicles(EV) and intelligent driving are the future of automotive industry. When 4WID EV starts up, there are some problems, such as slipping back and the high jerk, which is caused by road condistion and the ability of drivers. In order to improve the comfort and safety, we choose four-wheel hub electric vehicle, which is one of the 4WID EV, as object of the study and take some research on the adaptive starting control of 4WID EV. The main research work includes:1. Studied the architecture of 4WID EV and hub motor and analysed the forces acting on the vehicle when the 4WID EV was on an uphill road and choosed two indexs of evaluating the starting performance of the vehicle including jerk and the distance of slipping back.2. Studied the mathematical model of 4WID EV and two degree of freedom vehicle dynamic model, dynamic model of wheel and the HSRI tire model were established. Analysed the basic control algorithm, which was based on the closed-loop control of speed. Validated the algorithm on the co-simulation platform which units Carsim and Matlab/Simulink. Three situations are used to validate the algorithm on this platform which are uphill, flat and downhill road.3. Designed an adaptive starting control algorithm for 4WID EV. In order to make 4WID EV start automatically, this paper adopt the Luenberger state observer to estimate the slope of road and closed-loop control of speed. Validated the algorithms of slope estimation and adaptive starting on the co-simulation platform which units Carsim and Matlab/Simulink and the existing experimental platform, the results show that the algorithm of slope estimation has high precision and the adaptive starting control algorithm can meet the requirements and improve the comfort and safety.Focus on these problems, such as slipping back and the high jerk, this paper studied the adaptive starting algorithm which would be beneficial for the development of 4WID EV. |
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