全轮独立电驱动车辆双重转向控制策略的研究  

A Research on the Dual-Steering Control Strategy for All-Wheel Independent Electric Drive Vehicle

作　　者：范晶晶[1,2] 罗禹贡[1] 张海林[1] 李克强[1] 

机构地区：[1]清华大学,汽车安全与节能国家重点实验室,北京100084 [2]中国北方车辆研究所,北京100072

出　　处：《汽车工程》2011年第5期369-372,共4页Automotive Engineering

摘　　要：为全轮独立电驱动车辆提出一种双重转向的控制策略,设计了双重转向的总体控制结构。它是包括三自由度参考车辆模型、横摆力矩确定层和转矩分配层的分层控制体系。在横摆力矩确定层中,设计了基于PID的横摆力矩控制策略;在转矩分配层中,设计了基于纵向驱动力总和不变的转矩分配策略。在此基础上,开发了双重转向控制策略仿真平台,进行了仿真分析和实车试验,试验结果与仿真结果吻合度较高,表明所提出的双重转向控制策略对减小车辆转向半径有明显效果。A dual-steering control strategy is proposed for an all-wheel independent drive electric vehicle,and an overall control architecture for dual steering is designed.It is a layered control system consisting of a 3 DOF vehicle model,a yaw moment determining layer and a torque distribution layer.In yaw moment determining layer,a PID-based yaw moment control strategy is designed,and in torque distribution layer,torque distribution strategy is incorporated with the sum of longitudinal driving force remaining constant.On this basis,a simulation platform for dual-steering control strategy is developed,and a simulation and a real vehicle test are conducted.The simulation results well agree with test data,indicating that dual-steering control strategy proposed has obvious effect on reducing the turn radius of vehicle.

关 键 词：全轮独立驱动 电动车 双重转向 

分 类 号：U469.72[机械工程—车辆工程]