Research On Control Strategy Of Power Distribution For Electromechanical Distributed Drive Vehicle

As a significant feature of distributed electric driven vehicle,there are multi power units and each one can be controlled independently.The range of dynamics control such as vehicle attitude precision control and state observation is extended.So,the dynamic control performance of the vehicle will be greatly improved.As for military vehicles,the distributed electric driven technology can make full use of the adhesion capability of the driven wheels.At the same time,through the drive wheel torque real-time adjustment,driving force distribution control,the pavement performance and safety performance will be greatly improved.Therefore,the multi-wheel distributed electric drive military vehicle becomes the important development direction,and the control strategy research for this kind of vehicle has also become the key question.In this paper,a torque distribution control strategy is studied with a prototype of 8×8 distributed electromechanical composite drive vehicle.First,a nonlinear dynamic model of eleven degrees of freedom,including eight wheel rotation,longitudinal,transverse and yaw of vehicle body,is established.Second,the fuzzy control algorithm is adopted,and the road surface recognition results are obtained by weighted average method through the real-time calculation of the similarity between the current road ?-S curve and the various types of pavement in the standard pavement library.Third,the sliding mode control equation based on single wheel model is established,and the sliding mode control law of wheel torque with slip rate deviation and slip rate change rate as input is obtained.The PID control method is adopted and compared with the sliding mode control method.The fuzzy control method is used to adjust the PID control parameters in real time,and the adaptive fuzzy PID control model is established.Finally,On the basis of vehicle dynamics model,a strategy of driving force allocation is established.Combining the pavement identification results and slip ratio controller,the dynamic distribution method of driving force is adjusted to meet the demand of the longitudinal force of the driver,and the optimal dynamic performance of the road is obtained.