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标题：后轮独立驱动电动汽车横摆稳定性控制研究 |
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作者：余曼 ,赵炜华 , 吴玲,等 |
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| 2019年第7期 访问次数：240次 |
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摘要：为提高后轮独立驱动电动汽车的横摆稳定性，提出以车辆的横摆角速度和质心侧偏角为控制变量，以驱动轮的驱动力为执行力，包括横摆力矩决策层和转矩分配层两部分的直接横摆力矩控制策略。其中控制策略的上层部分运用滑模控制理论，下层部分采用优化控制理论，针对非线性系统，既能够保证控制精度也能够保证响应速度。运用车辆系统动力学知识，建立了包括线性车辆参考模型和非线性车辆计算模型的简化车辆动力学模型，搭建了Matlab/Simulink-Carsim联合仿真平台，利用蛇形试验工况并和双移线试验工况对本文提出的控制策略进行了仿真验证。结果表明所提出的控制策略能够保证车辆横摆稳定性，同时避免了以制动力作为横摆力矩执行力时因纵向车速降低带来的行驶安全性问题。
关键词：后轮独立驱动电动汽车；横摆稳定性；直接横摆力矩控制；滑模控制
Abstract: In order to improve the yaw stability of the rear wheel independent driving electric vehicle, a direct yaw moment control strategy was proposed in this paper, the yaw rate and the sideslip angle were taken as the control variables, and the driving force of the driving wheel was used as the execution force. The direct yaw moment control strategy including the yaw moment decision layer and the torque distribution layer. The upper layer of the control strategy was yaw moment decision layer, which used the sliding mode control theory, and the lower layer was torque distribution layer which adoptd the optimal control theory. For nonlinear systems, both control accuracy and response speed can be guaranteed. Based on the knowledge of vehicle system dynamics, a simplified vehicle dynamics model including linear vehicle reference model and nonlinear vehicle computing model was established. The Matlab/Simulink carsim joint simulation platform has been built, and the control strategy proposed in this paper has been simulated and verified by the snake test condition and the double line shift test condition. The results show that the proposed control strategy can ensure the stability of the vehicle yaw and avoid the driving safety problem caused by the reduction of the longitudinal speed when the braking force is used as the yaw moment.
Key words: rear axle independent driving electric vehicle; yaw stability; direct yaw moment control; SMVSC |
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