Principle Analysis of anti-skid decoupling Control of Distributed Electric Vehicle

Nonlinearity, unexpected road conditions and varying vehicle parameters make a challenge to robust adhesion control of vehicles. This paper mainly analyzes the coupling relationship between the anti-skid control of distributed electric vehicle (EV) drive and the tire - ground nonlinear characteristics and their changes. Based on the single-wheel dynamics model, the dynamic characteristics of EV power transmission are analyzed by using the small signal increment method, and the coupling characteristics of anti-skid control and road surface characteristics under different velocity intervals and adhesion state are analyzed based on the time-scale difference of electromechanical physical quantity. Analysis shows that, due to fast torque response of electric cars, the design of driving anti-skid control need not consider nonlinearity of tire-road and its change in different speeds and adhesion states of electric cars, so the design of driving anti-skid controller is simplified, which provides a theoretical basis for obtaining basically consistent driving anti-skid control performance under different road conditions. In this paper, PI controller independent of road characteristic is taken as the object to carry out the joint simulation verification based on MATLAB and CARSIM, proving the correctness of the theoretical analysis. The decoupling control conclusion can be extended to other electrical traffic equipment with non-linear load characteristics.