关键词: 分布式驱动, 电动汽车, 路面识别, 驱动防滑控制, 滑模控制

Abstract: This paper proposes an Acceleration Slip Regulation（ASR）control strategy based on road surface identification algorithm and sliding mode control for distributed drive vehicles on low adhesion coefficient road surfaces，where the ASR control performance is affected by the vehicle mass variation and road slope.Firstly，the vehicle mass and road slope are estimated by recursive least squares method，and the wheel vertical load is corrected.Then，according to the relationship between adhesion coefficient and slip ratio，a road surface identification strategy is designed to obtain the optimal slip ratio as the control target.A sliding mode control algorithm is adopted to achieve fast tracking of the slip ratio.Finally，Carsim and Simulink co-simulation and real vehicle tests are conducted to compare it with the traditional PI control strategy.Our simulation results show the proposed strategy reduces the RMSE value of slip ratio error by 75.1%，but the real vehicle RMSE is larger.The vehicle test demonstrates the control algorithm proposed in this paper performs better in vehicle slip rate control.