Method of controlling the slipping of a wheel propeller of automobile and tractor

Abstract

An increase in the slipping of a wheel propeller leads both to the energy loss and, up to a certain limit, the traction force increase. In this regard, in order to reduce energy losses for the movement of the vehicle, it is necessary to limit wheel slip at a level sufficient to create the required traction. Most of the existing algorithms aimed at implementing this constraint require information about the vehicle's linear speed. However, measuring the latter with a given accuracy outside laboratory conditions is difficult, which in some cases leads to a malfunction of the control algorithm. Therefore, it is relevant to develop a control method for the traction control system; in particular, for the case of acceleration, which will make it possible to estimate and limit wheel slip within specified limits with unknown characteristics of the supporting surface and the vehicle speed. The article is devoted to the development of a method for assessing and limiting slipping of a wheeled engine at a level sufficient to realize the required tractive forces without using data on the vehicle's linear speed and adhesion properties of the supporting surface. The article describes the mathematical model of the dynamics of the rectilinear movement of the quarter of the vehicle on a solid flat horizontal support surface. Through virtual experiments simulating the acceleration of a quarter of the vehicle with low slip, there was established a relationship between the traction force on the wheel axle and the kinematic parameters of the rotational motion, which are measurable and can be controlled during the movement of the vehicle, for example, using dynamometric wheels. On the basis of the obtained criterion, a regulator was developed to limit wheel slip during vehicle acceleration. The effectiveness of the developed regulator is proved by mathematical modeling of the acceleration of a quarter of the vehicle with different intensities on two types of supporting surfaces. It is also substantiated analytically provided that the wheel slip is constant within the measurement interval. The paper presents an approach to assessing and limiting the slip of the wheels of a vehicle during acceleration using a regulator based on fuzzy logic. A theoretical justification of the proposed method is given. It does not require information about the linear speed of the vehicle and the adhesion properties of a wheel with a supporting surface. An algorithm for the operation of the traction control system was developed. It allows to limit wheel slip at a given level while maintaining a sufficient margin of traction, which leads to a decrease in tire wear, a decrease in the likelihood of loss of mobility and an increase in the energy efficiency of the vehicle.