摘要
分布式电动汽车通过轮毂电机实现了独立、精确的转矩控制,为直接横摆力矩控制提供了新的技术路径,但传统策略存在能耗高、干预滞后等问题。为提升车辆稳定性与经济性,提出了一种基于模型预测控制的直接横摆力矩分层控制策略。上层基于车辆二自由度模型设计附加横摆力矩,实现对车辆运动状态的实时预判与主动调节;下层以轮胎附着力利用率最小为目标,结合电机特性与路面附着约束进行转矩优化分配。通过CarSim与MATLAB/Simulink联合仿真,在双移线、蛇行等典型工况下验证控制效果。仿真结果表明,该策略有效控制了车辆的质心侧偏角和横摆角速度,提升了行驶安全性与灵活性,同时兼顾了经济性与稳定性。研究成果为分布式电动汽车的直接横摆力矩控制提供了工程化方案,其分层控制架构与约束优化方法对多电机驱动系统的协调控制具有参考价值。
Distributed drive electric vehicles leverage hub motors to achieve independent and precise torque control,offering a new technical approach for direct yaw moment control.However,traditional control strategies suffer from high energy consumption and delayed intervention.To improve vehicle stability and economy,this study proposes a hierarchical direct yaw moment control strategy based on model predictive control.The upper-level controller designs the additional yaw moment based on a two-degree-of-freedom vehicle model,enabling real-time prediction and proactive regulation of vehicle motion.The lower-level controller aims to minimize tire adhesion utilization and optimizes torque distribution by considering motor characteristics and road adhesion constraints.The proposed strategy is validated under typical operating conditions,including double-lane change and serpentine maneuvers,through co-simulation using CarSim and MATLAB/Simulink.Simulation results show that the proposed strategy effectively regulates the sideslip angle and yaw rate,enhances driving safety and maneuverability,while balancing economy and stability.The findings provide an engineering solution for direct yaw moment control in distributed drive electric vehicles,and the hierarchical control architecture and constraintbased optimization method offer valuable insights for coordinated control in multi-motor drive systems.
作者
吴坚
冯佳杰
何睿
Wu Jian;Feng Jiajie;He Rui(Jilin University,Changchun 130022)
出处
《汽车文摘》
2026年第1期39-45,共7页
Automotive Digest
