Research on Acceleration Slip Regulation of 6×6 Electrically-driven Wheeled Vehicle

A vehicle dynamic model is built for 6 × 6 electrically-driven skid-steering unmanned ground vehicle with consideration of nonlinear eighteen degree-of-freedom. Based on the accurate controllable characteristics of torque of motor driving wheel,acceleration slip regulation( ASR) control strategies of compound Fuzzy-PID with smooth-switch are developed in order to adjust the slip ratio of driven wheel.The robust dynamic property of the ASR system and its adaptability to uneven road are improved by fuzzy controller,and its stable performance and control precision are enhanced by incremental PID controller.The ASR control strategies are simulated under four different road conditions,i. e. low-u road,high-u-tolow-u joint road,low-u-to-high-u joint road,and u-split road. The simulation results indicate that the proposed ASR control strategies can fast,effectively and smoothly prohibit the driving wheel from transiently slipping.