Abstract:

A real-time recognition strategy was proposed for driving wheel ship rate of the vehicle with motorized wheels corresponding the adhesion limit based on the adhesion behavior between the vehicle tire and the road surface as well as the features of independent driving of motorized wheel system. The adhesion characteristic between the tire and the road was expressed by the wheel dynamic parameters  including the driving torque and speed of wheels. The wheel slip was detected real-timely by computing the derivative variation of the adhesion factor and the optimal slip rate corresponding the adhesion limit was recognized. The proposed recognition strategy was verified by simulation and real vehicle test on road. The results show the strategy can judge accurately whether the wheel slips and give out the optimal slip rate and the adhesion factor limit.

Key words: vehicle engineering, electric vehicle, motorized wheel, slip rate recognition