四驱电动赛车TCS滑模预测控制系统设计与实现

针对四驱电动方程式赛车在不同路面工况下过度打滑的问题，设计了一种结合卡尔曼滤波车速估计和滑模控制的牵引力控制系统，以提高整车直线加速性能、减小车轮打滑以保证稳定性和快速加速中的安全性。控制器以车轮滑转率为控制变量，通过调整各驱动轮输出扭矩，以保证滑转率控制在最优范围内；考虑获取准确车速是得到最优滑转率的前提，设计卡尔曼滤波器，实现车速估计；针对滑模控制自身存在的抖振问题，采用改进的指数趋近律，提高稳定性。利用Matlab/Simulink和CARSIM联合仿真，验证了该控制系统的有效性；最终完成实车测试与应用，在实际应用中实现控制系统满足四驱电动方程式赛车的快速平稳加速的工程要求。

Design and Implementation of TCS Sliding Mode Predictive Control System for 4WD Electric Racing Vehicle

For solving the problem of sliding a lot on 4WD Formula E racing vehicle under different road conditions, this paper builds a traction control system combining Kalman filter for estimating speed and sliding mode control to improve the acceleration performance on the straight track, eliminae the driving wheel slip to ensure the stability and safety of the vehicle. The controller takes the slip rate as the variable, adjusting the torque of each driving wheel to ensure that the slip rate is controlled within the optimal range. Considering that obtaining accurate vehicle speed is the prerequisite for calculating the optimal slip rate, a Kalman filter is designed to achieve speed estimation. To solve the buffeting phenomenon, this paper gives an improved exponential convergence rate to ensure the stability. Through Matlab/Simulink and CARSIM simulation test, it is verified the effectiveness of the control system. With the real-vehicle test and application, the control system is ultimately verified to meet the requirements of rapid and stable acceleration for 4WD Formula E racing vehicle.