Combined acceleration slip regulation for multi-wheel distributed electric drive vehicles considering torque loss factor

In this paper, we propose an acceleration slip regulation (ASR) method for multi-wheel distributed electric drive vehicles, which considers the torque loss factor and combines dynamics and stability control. The accurate estimation of the peak adhesion coefficient and optimal slip ratio on complex roads is a challenging task, resulting in uncertainties in the wheel slip domain, the timing of ASR activation, and the target slip ratio. To address these issues, a method for determining the wheel's slip domain based on the torque loss factor is first proposed. Subsequently, a variable-step optimal slip ratio search method is introduced that incorporates the concept of stability boundaries, aligning with the Lyapunov stability criterion. Finally, an ASR strategy is proposed that seamlessly considers both dynamics and stability. To validate the proposed ASR, simulations and test vehicle experiments were conducted using the joint simulation platform of MATLAB/Simulink and TruckSim, as well as an 8-wheel distributed electric drive vehicle developed by our research group. These experiments encompass a range of roads, including low-adhesion coefficient roads, split roads, and docking roads. The results clearly demonstrate that the proposed ASR can effectively intervene when wheels enter the slip non-stability domain, achieve variable step-size optimization of the slip ratio, ensure rapid and stable convergence of the slip ratio for each wheel under complex road conditions, and significantly enhance the vehicle's acceleration and straight-line driving capabilities.