Acceleration Slip Regulation Strategy for Distributed Drive Electric Vehicles with Independent Front Axle Drive Motors

This paper presents an acceleration slip regulation strategy for distributed drive electric vehicles with two motors on the front axle. The tasks of the strategy include controlling the slip ratio to make full use of the road grip and controlling the yaw rate to eliminate the lateral movement due to the difference between motor torques. The rate of the slip ratio change can be controlled by controlling the motor torque, so that the slip ratio can be controlled by applying a proportional-integral control strategy to control the rate of the slip ratio change. The yaw rate can be controlled to almost zero by applying torque compensation based on yaw rate feedback. A coordination control strategy for the slip ratio control and yaw rate control is proposed based on analysis of the priorities and features of the two control processes. Simulations were carried out using MATLAB/Simulink, and experiments were performed on a hardware-in-loop test bench with actual motors. The results of the simulations and experiments showed that the proposed strategy could improve the longitudinal driving performance and straight line driving stability of the vehicle.