四轮轮毂电机驱动电动汽车驱动防滑控制关键技术综述

Four-wheel-independently-actuated electric vehicles have attracted tremendous attention due to its potential for enhancing vehicle dynamics stability and handling performance. Acceleration slip regulation (ASR) is of great importance for improving the driveability of FWIA EVs under the low-friction road surface. This paper presents a comprehensive overview on the key techniques of ARS for FWIA EVs with the primary goal to summarize recent progress and spark innovative ideas for further research advance. The state-of-the-art vehicle speed estimation, road identification and ASR control algorithms are systematically and thoroughly surveyed. Especially, the kinematics- and dynamics-based estimation methods for vehicle speed estimation are compared, and multi-sensor fusion technique represents the most promising direction in this aspect. The experimental- and model-based road identification algorithms are also overviewed with the emphases on the road adhesion coefficient and road surface identification. The slip rate-based and torque-based ASR controllers are covered with detailed analysis on the factors that need consideration in practical implementations. Finally, the prospects for key technologies for ASR are discussed.