Anti Slip Control And Torque Optimization Of Electric Vehicle Based On Hub Motor Direct Drive Technology

The main content of this paper is that researching torque distribution control method of pure electric automobile which distribution of driving based on in-wheel motor which is technology of direct driving.This automobile is different from the car which is concentration driving,the in-wheel motor automobile is characterized in that the torque on the four driving carriages can be distributed independently without influence.When the vehicle runs in a straight line on a low adhesion or split levels road,the torque between each wheel can be adjusted to enhance the impetus,stationarity and economy of the automobile,Therefore,how to get command of the reasonable distribution of the torque of each wheel is the focus of this paper.The details are as follows:(1)On the grounds of the construction characteristics of pure electric automobile driven by in-wheel motor distribution,the configuration procedure of actuating control system is set up in terms of the theory of stable allocations of actuating control system.In line with the basic relevant data and design objectives of the whole vehicle,the suitable choice of related parts where is in actuating control system is accomplished,and the electric machine control system is set up.(2)The content of this paper is that researching prevent slippery problem of pure electric automobile which distribution of driving based on in-wheel motor which is technology of direct driving,coming up with a method of prevent slippery on account of road information distinguish technology under complex road conditions.The message of diverse roads is gained through the road distinguishing technology,which provides the basis for automobile anti-skid.On this basis,this paper also devises a control method that prevent slippery on the strength of fuzzy control.(3)Aiming at the problem of torque distribution efficiency of hub motor distributed drive pure electric vehicle driving on horizontal road,this paper proposes and designs the following two torque distribution efficiency control tactics: the distribution efficiency control strategy of driving torque designed with the use economy as the fundamental target and the distribution efficiency control tactics of actuating torque set up with the stationarity is get command of as the fundamental target.When the vehicle is not allowed to drive into the opposite or low adhesion level road,the torque distribution which is get command of torque which is on account of energy consumption minimum of SA is realized,and its corresponding control objective function and constraint conditions are designed and defined;When the car gets into the opposite or low adhesion level road,the control target is on account of the best slip rate is employed to render certain the automobile stationarity.(4)Taking advantage of Matlab / Simulink and CarSim,the finished automobile module,driver module,road feature recognition and detection module,anti-skid system module and automatic torque distribution controller module are established.Based on this,the finished automobile stationarity test,and when car drives in a straight-line road,actuating torque distribution control of the automobile system are intelligently get command of,and the parameters of each component of the simulated whole vehicle structure are set or modified,So as to effectively complete the vehicle simulation function verification of simulating the automobile performance test,such as: power,energy,safety and so on.The simulation results also show that in the torque distribution on the strength of energy consumption best method,the energy consumption of the whole vehicle is greatly reduced by comparing the torque distribution value obtained by simulated annealing algorithm with the average torque distribution value;In the kinetic torque distribution set up on the strength of the optimal slip rate control method of the carriage,when the automobile goes straight into the open or low adhesion level road,the slip rate value of the carriage is always near the optimal slip rate value of the carriage,so as to truly render certain and enhance the stationarity and power of the automobile driving straight.