Research on Longitudinal–Vertical Coordinated Recovery Drive Control for Corner-Modular Distributed Drive Vehicles

Abstract

This article addresses the issue of rapid recovery for corner-modular electric vehicles on low-traction surfaces such as ice, snow, and sand. A drive anti-slip controller based on observing wheel dynamic load variations is proposed, integrating model predictive control (MPC) and sliding mode control (SMC). This approach achieves “synchronized” control between the drive system and active suspension for rapid vehicle recovery. In this study, an extended Kalman filter (EKF)-based observer is developed to monitor the vertical dynamic load between the wheel and the ground. Concurrently, a synchronous phase pre-compensation calculator (SPPC) is designed to address control signal delays. Building upon this, a fusion controller semi-implicit Euler method for model prediction and conditional integration for switching SMC laws (SIMP-CISMC)—which utilizes the SIMP and CISMC—is proposed. This controller enables coordinated control between the drivetrain and the active suspension system, enhancing effective driving force during recovery. The results indicate that the proposed method shows significant advantages in joint simulations with CarSim and Simulink, improving tire longitudinal driving force by 6.99%, 5.09%, and 4.13% compared to traditional SMC, MPC, and sliding mode predictive control (SMPC), respectively.