ABSTRACT

A robust anti-slip regulation method adaptive to different road-tire conditions is proposed for distributed drive electric vehicles. The controller is robust to wheel parameter uncertainty and takes wheel speed as control variable, avoiding the disadvantage at low vehicle speed when slip ratio is taken as control variable. A non-affine parameter estimator is adopted to estimate road condition using improved Burckhardt model, the reference slip ratio is set according to the estimated road condition. Hence the realization of adaptive anti-slip regulation. Multi-condition experiments show that the controller is adaptive to road change, can improve vehicle driving efficiency and ensure wheel and vehicle stability.