A Drive Anti-Slip and Lateral Stability Control Technique for Distributed Three-Axis Drive Vehicle

<div class="section abstract"><div class="htmlview paragraph">The research object of this project is the anti-slip and lateral stability control technique for a distributed three-axis drive vehicle. What differs from the traditional four-motor power system layout is that the third axle has two motors, while the second axle only has one motor. Compared with the traditional design, this layout can reduce dependence on battery performance and maintain motor operation in a high-efficiency range by switching between different operating modes. For example, when driving at high speeds, only the motor on the second axle works, which can improve motor efficiency. When accelerating or climbing, all motors work to provide a large power output. In the research, the vehicle model was first established in Simulink, and then co-simulated with TruckSim. The drive anti-slip control first identified the optimal slip rate for the road, and then used the sliding mode control to determine the driving torque for each wheel, achieving good control effects under various road conditions and driving modes. For example, it improves acceleration performance on muddy roads, bumpy roads, split-traction roads, and so on. The lateral control used a two-layer control strategy: the first layer is sliding mode control, and the second layer is a rule-based distribution layer, which outputs the driving torque for each wheel. Simulations were conducted under double-lane shift and snake test conditions with different adhesion coefficients to verify the effectiveness. The results showed that the control strategy can maintain lateral stability better than traditional systems. The control strategy of the distributed three-axle drive vehicle can achieve better performance than traditional systems.</div></div>