电动汽车稳定性的横摆力矩控制  

The direct yaw control of electric vehicle stability control

作　　者：张金柱 张洪田[1] 孙远涛[1] 

机构地区：[1]哈尔滨工程大学动力与能源工程学院,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2012年第6期75-80,共6页Electric Machines and Control

基　　金：黑龙江省自然科学基金(E200950);哈尔滨市优秀学科带头人项目(2010RFXXG001)

摘　　要：针对轮毂电机式电动汽车的稳定性控制问题,建立了七自由度整车模型和非线性轮胎模型。在此基础上,提出基于横摆力矩控制的电动汽车稳定性控制策略。通过线性二自由度车辆模型计算理想质心侧偏角和理想横摆角速度。采用状态观测器估计实际质心侧偏角。以汽车质心侧偏角和横摆角速度为控制变量,设计了基于滑模理论的稳定性控制器。通过对单个车轮施加驱动或制动控制,产生纠正汽车行驶状态的横摆力矩。建立了基于CarSim和Matlab/SIMULINK的稳定性控制系统虚拟仿真平台,在双移线工况下进行仿真分析。结果表明该稳定性控制器能够快速施压驱动力或制动力,及时、准确地控制汽车的横摆角速度和质心侧偏角,避免汽车产生不足转向或过多转向,使汽车实际运行的路径与期望路径保持一致,提高了汽车的操纵稳定性。Abstract ： The 7 degree of freedom （DOF） vehicle model and non-linear tire model were established based on the stability control of the electric vehicle with on-hub motors. Then the stability control strategy based on the direct yaw moment was presented. The idea sideslip angle at the center of gravity（COG） and idea yaw rate were calculated based on linear 2 DOF vehicle model. The actual sideslip angle at COG was es- timated by the state observer. The sideslip angle at COG and yaw rate were selected as the control varia- bles, and the stability controller was designed based on sliding mode theory. The yaw moment which cor- rected the vehicle driving state was produced by individual wheel driving or braking. The virtual simula- tion platform of stability control system was established based on CarSim and Matlab/Simulink and the simulation analysis was performed under double lane change. The results have shown that the stability controller could apply the drive force or the brake force rapidly, and control the yaw rate and the sideslip angle at COG accurately and timely. The under steer or over steer of the vehicle has been avoided. The controller makes the actual track follow the expected track, and has improved the vehicle driving stabili-

关 键 词：电动汽车稳定性 滑模控制 横摆力矩 质心侧偏角 横摆角速度 

分 类 号：U461.6[机械工程—车辆工程]