Integrated control of ABS and ASR for multi wheel independent electric drive vehicle
                                            LIAO Zi li, LIU Dong, YANG Gui bing, CHEN Lu ming
                 （Department of Control Engineering, Academy of Armored Force, Beijing 100072, China）

Abstract: Aiming at solving the problem of wheel slipping during driving and braking, an integrated control strategy of ABS and ASR based on optimal slip control was proposed for multi wheel independent electric drive vehicle. By using the first order dynamic system model of torque control and the single wheel model of multi wheel independent electric drive vehicle, the precise mathematical model of the controlled object was established. Based on this mathematical model and the theory of fuzzy sliding mode control, the integrated control algorithm of ABS and ASR was designed to adjust the output torque of motor and brake. The integrated control strategy and algorithm was verified through a sort of electromechanical joint simulation experiment based on the dynamics simulation software Adams and the control simulation software Matlab. The results indicate that integrated control of ABS and ASR is efficient at controlling the slip ratio of wheel, which improves the acceleration and braking performance of vehicle.

Key words: multi wheel independent electric drive; integrated control of ABS and ASR; fuzzy sliding mode control （FSMC）; electromechanical joint simulation