摘要
针对四轮独立驱动与独立转向的分布式驱动电动汽车稳定性控制问题,提出了一种四轮转向与横摆力矩集成控制策略。采用分层控制结构,基于模糊理论设计上层控制器,根据期望横摆角速度、期望质心侧偏角与实际值的偏差,计算附加后轮转角和附加横摆力矩;下层控制器包括四轮转角控制器和四轮力矩分配器,附加后轮转角控制器根据转向盘转角和车速分别采用比例前馈加模糊反馈或阿克曼转向进行附加后轮转角控制,四轮力矩分配器根据附加横摆力矩需求采用二次规划算法对四轮力矩进行优化分配。选取典型实验工况,通过联合仿真实验对后轮转向与横摆力矩集成控制策略进行验证。结果表明:集成控制策略能有效提高分布式驱动电动汽车稳定性。
Aiming at the stability control of distributed drive electric vehicles with four-wheel independent drive and independent steering,this paper proposes an integrated control strategy of four-wheel steering and yaw moment.Based on the fuzzy theory,it designs the upper controller by adopting the hierarchical control structure.Then,it calculates the additional rear wheel angle and the additional yaw moment according to the expected yaw velocity and the deviation between the desired yaw angle of the center of mass and the actual value.The lower controller includes a four-wheel angle controller a four-wheel moment distributor.The additional rear wheel angle controller adopts proportional feedforward plus fuzzy feedback or Ackerman steering respectively to control the additional rear wheel angle according to the steering wheel angle and the vehicle speed.In accordance with the additional yaw moment demand,the four-wheel moment distributor uses quadratic programming algorithm to optimize the four-wheel moment allocation.By selecting typical experimental conditions,this paper verifies the integrated control strategy of rear-wheel steering and yaw moment through co-simulation experiments.The results show that the integrated control strategy can effectively improve the stability of distributed drive electric vehicles.
作者
李刚
张兴
卢丽霞
LI Gang;ZHANG Xing;LU Lixia(Automobile and Traffic Engineering College,Liaoning University of Technology,Jinzhou 121001,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2023年第5期19-28,共10页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金项目(51675257)。
关键词
分布式驱动电动汽车
四轮转向
横摆力矩
集成控制
联合仿真
distributed drive electric vehicle
four-wheel steering
yaw moment
integrated control
co-simulation
