分布式电驱动无人平台车轮滑移率最优控制

The wheel longitudinal slip ratio can affect the dynamic ability and stability of the unmanned platform directly. So, the slip ratio control problem was firstly analyzed in this paper, and then a dynamic model of the longitudinal slip ratio of the wheel was established based on tradition analysis model, considering the torsion coupling of wheels and the observation error of vehicle speed. Based on this, the optimal system design and controller solution were carried out, considering the uncertainty and external disturbances. Finally, the controllers designed for the pavements were simulated and verified with simulation software CarSim. Results show that, the robust optimal controller can ensure that the wheel longitudinal slip rate keeps stably at about 0.2 under different working conditions, achieving the control effect basically. Compared with the case without control, the wheel slip rate can be obviously controlled, ensuring the wheel speed consistent and avoiding the wheel stall. At the same time, the acceleration of the vehicle can be improved and the dynamic performance can be enhanced.