To address the problem in which wheel longitudinal slip rate directly affects the dynamics and handling stability of a vehicle under driving conditions, front and rear dual-motor four-wheel drive electric vehicles (4WD EVs) were selected as the research object in this study. An acceleration slip regulation (ASR) control strategy based on nonlinear model predictive control (NMPC) is proposed. First, the vehicle dynamics model and the Simulink/CarSim co-simulation platform were built. Second, an ASR controller with intervention and exit mechanisms was designed with the control objective of tracking reference speed or optimal slip rate. Then, considering the problem that the left and right wheels could not freely distribute torque under the condition of a split road surface, the motor output torque was determined in accordance with the wheel with the larger slip rate to enhance passibility. Finally, on the basis of the built Simulink/CarSim co-simulation platform, slip rate control simulation experiments were performed on a snow-covered road, a wet asphalt road, a docking road, and a split road. The designed controller can better track target slip rate and it exhibits better dynamic performance and stability than the method with PID control under different road conditions, especially under low speed and low adhesion road conditions, and its robustness can also meet the requirements.
Driveline oscillation is a significant concern in the context of hybrid electric vehicles (HEVs), because it can adversely affect the vehicles’ sustainability. The reason for this is that the oscillation not only diminishes the longevity of components due to high mechanical contact stress but also results in poor driving comfort, which in turn reduces customer satisfaction. To address the issue of driveline oscillation effectively, two critical challenges, namely the time-varying torque load and driveline backlash, need to be tackled. To this end, this study constructs a control-oriented model of a second-order system plus a dead zone for the driveline backlash. An extended state observer is designed in order to estimate the unmeasurable load torque. As such, an extended-state-observer-based compensator is proposed to suppress driveline oscillations for HEVs. To evaluate the control and observation performance of the proposed extended-state-observer-based compensator, simulation and engine-in-loop experiments are conducted. Results obtained in the time and frequency domains reveal that the proposed control scheme substantially reduces driveline oscillation.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.