Design and verification of an antislip regulation systemfor distributed reardriving electric bus
                           LIANG Zhiwei1, ZHU Shaopeng1, Liu Zhentao1,FANG Zidong1, LI Jiang2, NING Xiaobin3
(1.Power Machinery and Vehicular Engineering Institute, Zhejiang University, Hangzhou 310027, China;2.Hangzhou FirstTechnology Engineering Co. Ltd., Hangzhou 310012, China;3.Vehicular Engineering Institute, Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: Aiming at the drive slip situation of the distributed driving electric bus on low adhesion road, the research on the antislip control and testing of the rearwheeldrive electric bus with two inwheelmotors was carried out，an AntiSlip Regulation (ASR) system including slip ratio estimation module, singlewheeldrive antislip module and twowheel torque coordination module was proposed. The accuracy of the distributed reardrive electric bus model was verified by comparison of results of simulation and real vehicle test under left turn and right turn conditions.The simulation verification of the ASR system was conducted on splitμ and jumpμ road surfaces with TruckSim and MATLAB / Simulink cosimulation platform.Simulation results indicate that the ASR system can effectively control the slippage of the distributed rearwheeldrive electric on low adhesion road; especially on the splitμ road, the coordination module can reduce undesired yaw moment by coordinating the left and right wheel torque after implementing the singlewheeldrive antislip control, and keep the bus driving steady.

Key words: electric bus; antislip regulation;torque coordination; distributed driving