Acceleration Slip Regulation of Amphibious Vehicle Driven by Four Wheel Hub Motor for Landing

Abstract

<div class="section abstract"><div class="htmlview paragraph">Amphibious vehicles with both land and water navigation functions have extremely high application value in the military and civilian fields. In order to fully utilize the wheel driving force and ensure the smooth landing of the amphibious vehicle driven by four wheel hub motor, an acceleration slip regulation (ASR) is designed under the condition of landing from water. First, the road friction coefficient is identified based on the back propagation neural network (BPNN). Then, utilizing the improved Burckhardt model, the current optimal slip ratio is calculated from the identified road friction coefficient. Finally, the ASR under the condition of landing from water is designed based on radial basis function (RBF) single neuron adaptive PID control algorithm. By analyzing the process of amphibious vehicles transitioning from water to land, a typical working condition for amphibious vehicles landing is established, and a joint simulation is conducted using CarSim/Simulink. The simulation results indicate that, using the BPNN, the road friction coefficient of the typical working condition can be accurately identified. Compared to without ASR, after applying the ASR designed in this paper, the landing time of the amphibious vehicle is reduced by 7.5 s, and the final climbing velocity is increased by 7 km/h. After applying the ASR, the power performance of the amphibious vehicle during landing is improved, demonstrating that this ASR has significant practical application value.</div></div>