针对轮毂电机驱动式微型电动汽车的驱动轮过度滑转问题,基于双后轮独立驱动微型电动汽车,从工程化角度设计了汽车驱动防滑模糊PID控制器.首先设计了简化的模糊路面识别方法,然后在Carsim软件中建立了车辆模型,并基于Simulink和Carsim软件建立了联合仿真平台,最后基于联合仿真平台采用以驱动轮转矩为控制量进行了汽车在典型路面的驱动防滑控制仿真实验.实验结果表明,基于路面识别的驱动防滑控制器能够较好地抑制汽车驱动轮过度滑转,提高了汽车行驶的动力性和稳定性.
In order to accomplish acceleration slip regulation of mini electric vehicle with in-wheel motors,a fuzzy-PID controller is designed for electric vehicle with two rear-wheel independent drive in view of engineering applications.First a simplified fuzzy road identification method is designed,then vehicle model is established based on Carsim software,and the co-simulation platform is built based on Simulink and Carsim software,finally the experiments have been done in typical roads with driving wheel torque as control variable based on the co-simulation platform.The simulation results show that the controller can effectively restrain the excessive slip of driving wheel,and improve dynamic performance and stability of the vehicle based on road identification.
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