Study on Dynamic Modeling and Anti-slip Control for Four-wheel Independent Driving/Steering Electric Vehicle

This paper presents a vehicle dynamic model of 7-freedom degrees with different road adhesion coefficients based on MATLAB/Simulink platform. The correctness was verified by the dynamic simulation of vehicle model with the same parameters established in CarMaker software. In order to reduce the torque of the slip wheel to make full use of the road adhesion as well as to regulate the torque of non-slip wheel to ensure the stability of the vehicle, the control strategy of driving anti-slip control system with stability torque adjustment function working in full speed range was designed. In terms of torque distribution, according to different four-wheel slip state, it was proposed to different stability torque adjustment mode. The controller model was set up, and the closed-loop simulation of docking and split-road surface were carried out. The effectiveness of the anti-slip control and the torque control strategy are verified based on the simulation platform.