Amphibious vehicles with both land and water navigation functions have extremely
high application value in the military and civilian fields. In order to fully
utilize the wheel driving force and ensure the smooth landing of the amphibious
vehicle driven by four wheel hub motor, an acceleration slip regulation (ASR) is
designed under the condition of landing from water. First, the road friction
coefficient is identified based on the back propagation neural network (BPNN).
Then, utilizing the improved Burckhardt model, the current optimal slip ratio is
calculated from the identified road friction coefficient. Finally, the ASR under
the condition of landing from water is designed based on radial basis function
(RBF) single neuron adaptive PID control algorithm. By analyzing the process of
amphibious vehicles transitioning from water to land, a typical working
condition for amphibious vehicles landing is established, and a joint simulation
is conducted using CarSim/Simulink. The simulation results indicate that, using
the BPNN, the road friction coefficient of the typical working condition can be
accurately identified. Compared to without ASR, after applying the ASR designed
in this paper, the landing time of the amphibious vehicle is reduced by 7.5 s,
and the final climbing velocity is increased by 7 km/h. After applying the ASR,
the power performance of the amphibious vehicle during landing is improved,
demonstrating that this ASR has significant practical application value.