摘要
根据分布式驱动独立转向电动汽车四轮可单独控制的特点,提出一种考虑轮胎负荷率的四轮转向与直接横摆力矩集成控制策略,在保证轮胎稳定裕度的同时提升电动车辆行驶稳定性。采用分层控制,上层滑模控制器根据理想质心侧偏角、理想横摆角速度与实际值的偏差对后轮转角和附加横摆力矩进行集成控制;下层力矩分配控制器考虑轮胎负荷率及垂直载荷,采用等式约束代入目标函数的方法实现力矩优化分配。选取前轮正弦转向工况和双移线工况,在CarSim与Simulink软件联合仿真平台中对四轮转向与直接横摆力矩集成控制策略进行验证,结果表明:分层控制器能有效提高分布式驱动独立转向汽车的行驶稳定性。
Since the four wheels of distributed-drive independent-steering electric vehicles can be controlled individually,we propose a four-wheel steering and direct cross-swinging torque integrated control strategy considering the tire loading rate to improve the driving stability while ensuring the stability margin of tires.The specific control structure adopts hierarchical control.The upper sliding mode controller integrates the control of the rear wheel steering angle and additional pendulum torque according to the deviation of the ideal center of mass side deviation angle and ideal pendulum angular velocity from the actual value.The lower torque distribution controller realizes the optimal distribution of torque by considering the tire loading rate and the vertical load and using the equational constraints to bring in the objective function method.The front-wheel sinusoidal steering condition and double-shift line condition are selected.Then,the integrated control strategy of four-wheel steering and direct swinging moment is verified in the joint simulation platform of CarSim and Simulink.Our results show the layered controller effectively improves the driving stability of distributed-drive independent-steering electric vehicles.
作者
左昊
葛平淑
王阳
张涛
ZUO Hao;GE Pingshu;WANG Yang;ZHANG Tao(College of Electromechanical Engineering,Dalian Minzu University,Dalian 116000,China)
出处
《重庆理工大学学报(自然科学)》
北大核心
2025年第1期12-18,共7页
Journal of Chongqing University of Technology:Natural Science
基金
国家自然科学基金项目(52175078)。
关键词
分布式驱动
四轮转向
横摆力矩
集成控制
distributed driver
four-wheel steering
yaw moment
integrated control
