摘要
为提高分布式电驱动汽车的操纵稳定性,依据车辆动力学特点,设计基于直接横摆力矩控制的分层控制系统。提出一种自适应非奇异快速终端滑模(adaptive nonsingular fast terminal sliding mode,ANFTSM)控制器作为上层控制器,计算车辆所需的附加横摆力矩;采用二次规划优化算法设计最优力矩分配控制器作为下层控制器,将附加横摆力矩以最优的方式分配给4个车轮的轮毂电机,并根据车辆转向状态确定轮毂电机输出的转矩;引入自适应机制调整滑模面的参数,使系统能够在不确定性和扰动的影响下保持稳定。仿真实验结果表明,本文提出的控制系统可降低整车的横摆角速度和质心侧偏角波动,在车辆操纵稳定性方面具有可行性和有效性。
In order to improve the operational stability of distributed electric drive vehicles,a hierarchical control system based on direct yaw torque control is designed according to the characteristics of vehicle dynamics.An adaptive nonsingular fast terminal sliding mode(ANFTSM)controller is proposed as the upper controller to calculate the additional yaw moment required by the vehicle.The quadratic programming optimization algorithm is used to design the optimal torque distribution controller as the lower controller,and the additional yaw torque is optimally distributed to the hub motors of the four wheels,and the torque output by the hub motors is determined according to the steering state of the vehicle.An adaptive mechanism is introduced to adjust the parameters of the sliding surface,so that the system can remain stable under the influence of uncertainty and disturbance.The simulation results show that the control system proposed in this paper can reduce the fluctuation of yaw velocity and centroid deflection angle of the whole vehicle,and is feasible and effective in the operational stability of the vehicle.
作者
郭莉蕊
魏佳帅
陈克
王楷焱
GUO Lirui;WEI Jiashuai;CHEN Ke;WANG Kaiyan(Shenyang Ligong University,Shenyang 110159,China)
出处
《沈阳理工大学学报》
2025年第3期90-96,共7页
Journal of Shenyang Ligong University
基金
辽宁省教育厅高等学校基本科研项目(LJKMZ20220603)。
关键词
分布式电驱动
操纵稳定性
自适应非奇异快速终端滑模控制
转矩分配
distributed electric drive
operational stability
adaptive non-singular fast terminal sliding mode control
torque distribution
