摘要
为提高分布式驱动电动汽车底盘协同控制的稳定性,提出了一种由主动前轮转向(AFS)系统和差动助力转向(DDAS)系统组成的协同控制系统。依据变结构滑模控制理论,建立主动转向控制器与差动助力转向控制器的设计框架,进而计算出所需的前轮附加转角及差动力矩,并通过下层转矩分配器计算出各轮驱动转矩,基于质心侧偏角-质心侧偏角速度相平面理论将车辆稳定性状态细分为AFS控制区域、协同控制区域和DDAS控制区域,通过隶属度函数分配各区域控制任务,最后,选定双移线工况与角阶跃工况,采用CarSim与MATLAB/Simulink进行联合仿真验证。结果表明,所提出的控制策略在湿滑路面下显著增强了车辆的稳定性,其控制效果优于单一转向控制。
To enhance the stability of distributed drive electric vehicle chassis coordinated control,this paper proposes a novel coordinated control system integrating Active Front-wheel Steering(AFS)and Differential Drive Assist Steering(DDAS).Based on variable structure sliding mode control theory,the framework for designing AFS and DDAS controllers is established to calculate required front wheel additional steering angles and driving torque.Subsequently,a lower-layer torque distributor calculates wheel-specific driving torque.By employing the center of mass side slip angle-center of mass side slip angular velocity phase plane theory,vehicle stability states are categorized into three distinct regions:AFS dominant zone,coordinated control zone,and DDAS dominant zone.Membership functions are utilized to partition control assignment among these regions.The proposed differential cooperative active steering strategy is validated through double lane change and step steering simulations using CarSim and MATLAB/Simulink.Simulation results demonstrate that under wet road surface conditions,the proposed strategy significantly improves vehicle stability compared to single steering control approaches.
作者
王欣
屈小贞
Wang Xin;Qu Xiaozhen(Liaoning University of Technology,Jinzhou 121001)
出处
《汽车工程师》
2025年第12期30-36,共7页
Automotive Engineer
关键词
电动汽车
主动转向
差动转向
协同控制
Electric vehicle
Active steering
Differential steering
Coordinated control
