电驱动高地隙车辆滑转率滑模控制研究

为实现四轮独立驱动高地隙车辆在田间路况下正常工作,防止车轮过度滑转,设计一种滑转率控制器,该控制器通过反馈数据计算出各轮的实际滑转率,再结合滑模变结构算法对4个驱动轮力矩进行分配,从而控制滑转率到目标值。试验结果表明:1)该滑转率控制器能够有效的控制车轮的滑转;2)使用该控制器时,车辆在1s内达到稳定状态;而未使用时,车辆需要3~4s达到稳定状态;3)使用该控制器能够有效减小路面变化对车辆速度的影响;4)当车辆遇到障碍时,车轮的滑转率能在1~2s内恢复至目标值,表明该控制器具有鲁棒和快速响应的特性。

Research on sliding mode control of slip rate for electric high-clearance vehicle

In order to realize the operating regularly of four wheel independent drive vehicle and prevent excessive wheel slip under the field condition,a slip ratio controller,which can be used to calculate the real slip rate of each wheel through feedback data was constructed.The torque allocation value of each wheel can be gained by combing with sliding mode variable structure algorithm so that the slip ratio would be controlled to reach the target value.Experimental results indicate that:1) The wheel slip can be controlled effectively by the slip rate controller;2) The vehicle can reach to the steady state within 1 second by using the system,while it need 3-4 seconds to reach the steady state without using the controller;3) The controller can minimize the effects of road surface changes for the vehicle speed effectively;4) When the vehicle encounter obstacles,the wheel slip ratio can recover to the target value in 1-2 seconds which verifies the robustness and fast response of the controller.