Abstract: In this paper, the acceleration slip regulation (ASR) of wheel-driven electric racing cars is implemented using a nonlinear model predictive control (MPC) strategy. In order to achieve optimal longitudinal acceleration and tire grip performance for electric racing cars, the wheel slip stability region is utilized as a temporal constraint within the nonlinear model predictive control framework, and a wheel-side motor slip ratio control model is established. By integrating a racing aerodynamics package and tire characteristics, a cost function for the ASR model is developed in MATLAB/Simulink software to balance multiple objectives, including target slip ratio, target torque rate of change, and maximum torque limitation. Through combined simulations using CarSim and MATLAB/Simulink, as well as semi-physical experiments on a test bench, the effectiveness and reliability of the model are verified. The results of the combined simulations and experimental validations illustrate that the proposed approach effectively enhances the longitudinal performance of the racing cars.
Keywords: nonlinear model predictive control(MPC); acceleration slip regulation(ASR); slip rate; electric racing cars
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