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Study on Acceleration Slip Regulation of Four-Wheel Independent Drive Electric Vehicles Considering Motor Response Errors
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Hao Jin1, Chengkang Zhao1, Shuai Wu1, Long Chen2, Chun Wang1, Sheng Lai1
Automotive Engineer | 2026, (6) : 9 - 16
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Automotive Engineer | 2026, (6): 9-16
Study on Acceleration Slip Regulation of Four-Wheel Independent Drive Electric Vehicles Considering Motor Response Errors
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Hao Jin1, Chengkang Zhao1, Shuai Wu1, Long Chen2, Chun Wang1, Sheng Lai1
Affiliations
  • 1.Sichuan University of Science & Engineering, Yibin 644005
  • 2.Yibin Municipal Bureau of Science and Technology, Yibin 644002
Published: 2026-06-15 doi: 10.20104/j.cnki.1674-6546.20250301
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To address the issue of unstable motor output torque resulting from torque response discrepancies in Four-Wheel Independent Drive (FWID) electric vehicles, the paper proposes a drive antislip control strategy that accounts for motor response errors. On the basis of comprehensively analyzing the impact of the dynamic and steady-state responses of the motors on drive slip control, a target slip ratio tracking algorithm based on sliding mode control is designed, and the motor torque response errors are compensated at the control level. Through co-simulation of CarSim and MATLAB/Simulink, the proposed drive slip control strategy is verified under low-adhesion coefficient road and medium-adhesion coefficient road conditions. The results show that, compared with the drive slip control strategy that does not consider motor response errors, the proposed method increases the vehicle speed by 55.6% and 31.8% respectively to achieve a rapid start effect and effectively suppress the overshoot of the slip ratio in drive slip control, thus ensuring the safety and stability of vehicle driving.

Four-Wheel Independent Drive (FWID)  /  Acceleration Slip Regulation (ASR)  /  Motor response errors  /  Response compensation
金号, 赵成康, 吴帅, 陈龙, 王春, 来升. 考虑电机响应误差的四轮独立驱动电动汽车驱动防滑控制研究. 汽车工程师, 2026 , (6) : 9 -16 . DOI: 10.20104/j.cnki.1674-6546.20250301
Hao Jin, Chengkang Zhao, Shuai Wu, Long Chen, Chun Wang, Sheng Lai. Study on Acceleration Slip Regulation of Four-Wheel Independent Drive Electric Vehicles Considering Motor Response Errors[J]. Automotive Engineer, 2026 , (6) : 9 -16 . DOI: 10.20104/j.cnki.1674-6546.20250301
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Year 2026 volume Issue 6
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doi: 10.20104/j.cnki.1674-6546.20250301
  • Online Date：2026-09-20
  • Published：2026-06-15
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  • Revised：2026-03-06
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    1.Sichuan University of Science & Engineering, Yibin 644005
    2.Yibin Municipal Bureau of Science and Technology, Yibin 644002
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表12种不同金属材料的力学参数
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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