Adaptive anti-slip wheel-speed synchronisation control for hill drive of distributed-drive electric vehicles

Distributed-drive electric vehicles (DDEVs) are prone to wheel slippage when driven on low-friction slopes, particularly when their centre of gravity changes. This study proposes an anti-slip wheel-speed synchronisation control for ramps based on adaptive drive-torque redistribution (ASWSSC-RADTR) to address this issue. A dynamic model including the chassis and motor drive system is developed using Amesim and MATLAB/Simulink to study the dynamic characteristics of DDEVs during acceleration, startup, and straight-line driving. The performance of the ASWSSC-R-ADTR is compared with that of other control strategies in terms of longitudinal slip and acceleration on various slopes. Furthermore, the anti-interference and anti-slip capabilities of ASWSSC-R-ADTR are evaluated for sudden changes in the vehicle centre of mass. The results demonstrate that ASWSSC-R-ADTR effectively addresses excessive wheel slippage and exhibits excellent robustness.