Coordinated and optimal acceleration and deceleration driving control for multi-axle hydrostatic driving vehicle

This paper mainly deals with the optimal accelerated driving control for multi-axle hydrostatic driving vehicle. Addressed the hydrostatic traveling system to be composed of pump-controlled-parallel-motor, a hierarchical coordinated control structure was proposed by regulating variable displacement pump to improve the acceleration and deceleration performance of vehicle. Furthermore, a first order sliding-mode observer was designed for estimating the road condition and confirmed the optimal slip rate. The numerical simulations on the proposed control algorithm were conducted. The results and simulation evaluation show that the proposed control law can make the vehicle reach to the optimal slip rate and achieve the excellent acceleration and deceleration performance.