四轮独立驱动电动汽车转矩自适应分配控制  

Torque Adaptive Allocation Control of Four Wheel Distributed Drive Electric vehicle

作　　者：梁田 王新健 罗良铨 LIANG Tian;WANG Xin-jian;LUO Liang-quan(College of Applied Scien,Jiangxi University of Science and Technology,Ganzhou Jiangxi 341000,China;School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology, Ganzhou Jiangxi 341000,China)

机构地区：[1]江西理工大学应用科学学院,江西赣州341000 [2]江西理工大学机电工程学院,江西赣州341000

出　　处：《计算机仿真》2018年第12期111-116,共6页Computer Simulation

基　　金：校级学术学位研究生创新专项资金项目(XS2016138)

摘　　要：针对四轮独立驱动电动汽车驱动防滑控制的介入,造成整车动力下降和非期望横摆力矩,提出一种驱动防滑反馈控制的转矩优化分配方法。在搭建四轮独立驱动电动汽车整车模型基础上,构建分层控制器其中包括决策层、转矩分配控制层。其中核心层是转矩分配控制层在满足决策层确定的纵向力和横摆力矩需求的同时,考虑最大驱动转矩约束和滑转率控制约束的条件下,采用序列二次规划法以提高附着裕量为目标优化转矩分配。仿真结果表明,考虑滑转率控制约束的转矩分配有利于提高车辆的稳定性,同时能够充分利用非过度滑转车轮的剩余附着力提高动力性。In this paper,an approach to optimal torque allocation for four wheel independent drive electric vehicle was proposed,which can drive power down and unexpeeted yaw moment for anti slip control intervention.Based on the model of the four wheel drive eleetrie vehicle,a hierarchical controller was constructed,including decision level and torque distribution control layer.The core layer was the torque distribution control layer which was to meet the decision-making defined longitudinal force and yaw moment needs at the same time.Considering the maximum driving torque constraints and slip control constraints,in order to improve the attachment margin for optimal torque distribution,we used the sequence of quadratic programming method.The simulation results show that the torque distribution considering the slip ratio control constraint is helpful to improve the vehicle stability and can make full use of the remaining adhesion of the wheel without excessive rotation to improve power performance.

关 键 词：四轮独立驱动 转矩分配 附着裕量 横摆稳定 序列二次规划法 驱动防滑 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]