Research On Drive Control Strategy Of Four-wheel Independent Drive Electric Vehicle Considering Driver Acceleration Characteristics

Nowadays,the car is developing towards electrification and intelligence.Electric vehicles have become an important direction for the development of automobiles.The four-wheel independent drive electric vehicles are characterized by the independent controllability of four-wheel drive torque,so it is a good carrier for the study of intelligent control of automobiles.It can improve the intelligent level of the car and improve the driving comfort by considering the driving characteristics of the four-wheel independent driving electric vehicle.The project relies on the National Natural Science Foundation of China(51675257)"Study on the Dynamic Control of Four-Wheel Independent Drive and Steering Electric Vehicles Considering Driver Characteristics".Based on four-wheel independent driving electric vehicles,the method of identifying acceleration characteristics during driver driving and four-wheel drive control strategy considering driver acceleration characteristics is studied.The main contents are as follows:(1)Research on Classification Method of Driver Acceleration CharacteristicsApply the driving simulator test bench,design the experimental working conditions,select the driver,collect data on the driver's manipulation data and vehicle state information,filter the data,extract the feature value processing,and compare the advantages and disadvantages of several clustering methods.Finally,the K-means clustering algorithm is selected to classify the manipulation data and the driver acceleration characteristics is reasonably classified.(2)Research on Driver Acceleration Characteristics Identification and Drive Torque Gain Matching MethodOn the MATLAB/Simulink software,the neural network theory is applied,and the driver acceleration characteristic identification model is established based on the experimental data.The model can accurately identify the driver's acceleration characteristics be verified by establishing offline and online experiments.On this basis,different types of drivers are selected,design experiments are carried out,and the driving torque gain corresponding to the three types of drivers in the driving simulator vehicle model is continuously adjusted.Determine the drive torque gain for different drivers,the driver and the gain value are matched,and different types of driver acceleration characteristics experiments after gain matching are performed.(3)Research on Drive Control Strategy of Four-wheel Independent Drive Electric VehicleThe vehicle drive control strategy of four-wheel independent drive electric vehicle considering the driver acceleration characteristics is designed.The acceleration condition distribution torque distribution method,the motor failure condition drive torque redistribution method and the drive slip control method are studied.The motor state observer is used to determine whether the motor has failed.In the normal state of the four-wheel motor,the four-wheel drive torque is reasonably distributed when the vehicle accelerates,and the driving ability of the whole vehicle is improved.In the motor failure state,by using the adaptive PID control theory,the residual motor drive torque value is redistributed,and the yaw moment control is used to solve the instability phenomenon caused by the failure of a single motor during the running of the vehicle.Designed to drive the anti-skid control algorithm to further adjust the output torque of the motor to ensure vehicle stability and acceleration performance.(4)Control strategy is verified by driving simulator experimentThe effectiveness of the control method is verified by designing reasonable experimental conditions and establishing a control model in the driving simulator.The verification results show that the four-wheel drive torque control can realize the four-wheel drive torque control considering the driver's acceleration characteristics under the premise of ensuring safe driving of the vehicle.