Acceleration Comfort Guaranteed ASR for Distributed Driving Electric Vehicle via Gain-scheduled Robust Pole-placement

Extensive literatures have proposed novel algorithms to ensure the stability of acceleration slip regulation (ASR). However, the acceleration comfort, which is sensitive for passengers, is difficult to guarantee when ASR is activated. The reason lies in that traditional wheel dynamic model fails to explain the acceleration oscillation of vehicle, which is not rational for ASR design. In this paper, lagged wheel dynamic model, which considers the oscillation of slip ratio, is employed to design the ASR controller of distributed driving electric vehicle (DDEV). To ensure the acceleration comfort of DDEV, pole-replacement method is applied to improve the dynamic performance of ASR. Considering the parameter perturbation of lagged wheel dynamic model, gain-scheduled robust control is adopted for slip ratio tracking. The algorithm above ensures the stability and comfort of ASR under changing road adhesions and vehicle speeds. Simulation results also validate an obvious reduction of longitudinal shock time.