Simulation and Experiment of Distributed Drive Hybrid Multi-Axle Heavy-Duty Truck Dynamics Control Algorithm

The electric wheel is a power device which is used to directly drive the vehicle by installing a hub motor on the wheel rim. Distributed drive vehicles utilize the vehicle control unit (VCU) to precisely control the torque and speed of each electric wheel, enabling precise and complex vehicle dynamics control. Independently controlled electric wheels provide more observers and actuators for vehicle dynamics control, as well as higher difficulty and requirement for vehicle dynamics control algorithms, especially for multi-axle distributed drive vehicles. Aiming at distributed drive hybrid multi-axle heavy-duty truck, this paper proposes a dynamics control algorithm. The algorithm uses a hierarchical control structure, including longitudinal and lateral dynamics control strategies, as well as low-layer control functions such as traction control system (TCS), anti-lock braking system (ABS) and braking torque distribution, etc. On the MATLAB/Simulink software platform, the vehicle model was established and the simulation test of the dynamics control algorithm was carried out. The dynamics control algorithm of this paper was applied to an actual liquid hydrogen fuel cell heavy-duty truck of the Beijing Municipal Science and Technology Commission project. Simulation and road test results verified the feasibility, accuracy and real-time performance of the algorithm.