基于车辆稳定性的轮胎力优化分配研究  

Optimal allocation of tire force based on vehicle stability

作　　者：刘震涛[1] 魏强[1] 朱绍鹏[1] 江冬冬[1] 

机构地区：[1]浙江大学动力机械及车辆工程研究所,浙江杭州310027

出　　处：《机电工程》2015年第3期433-438,共6页Journal of Mechanical & Electrical Engineering

基　　金：浙江省重点科技创新团队计划资助项目(2011R50008)

摘　　要：针对电动汽车的高速行驶稳定性问题,对四轮独立制动/驱动、四轮独立转向电动汽车进行了研究。提出了一种轮胎力优化分配控制算法,提高极限工况下车辆稳定性。首先,根据驾驶员的转向、制动/驱动输入,基于理想二自由度车辆模型算出横摆角速度、质心侧偏角的目标值,然后比较目标值与车辆实际值得出偏差,再根据目标值与实际值的偏差采用滑模控制计算出了所需的总横摆力矩、侧向力、纵向力。最后基于八自由度车辆模型,通过最优分配控制算法,计算出了每个车轮上需要施加的纵向力与侧向力。利用Matlab/Sinmulink与车辆动力学软件CarSim联合仿真验证了基于车辆稳定性的轮胎力优化分配效果。仿真结果表明,提出的轮胎力优化分配算法在高速急转向工况下能够使车辆保持理想的横摆角速度和质心侧偏角,提高了极限工况下车辆稳定性。Aiming at the problem of driving stability under high speed condition for electric vehicle,the electric vehicle which can be steered and drived / braked independently for each tire were researched. A tire force optimal allocation control strategy was proposed to improve vehicle stability under ultimate driving condition. Firstly,the desire value of yaw rate and slip angle of the vehicle were calculated according to driver＇ s steering,driving / braking based on two degrees freedom vehicle model. Then the errors between actual value and desire value of yaw rate and slip angle were figured out by compare them. The total longitude force,total lateral force and yaw moment of the vehicle were calculated via sliding mode control based on the errors. At the last,the longitude force and lateral force were figured out by optimal allocation method based on an eight-degree freedom vehicle model. The control strategy was validated by co-simulation of vehicle dynamic software Car Sim and Simulink. The results indicate that under the condition of high speed and large steering angle,the stability control strategy could keep yaw rate and slip angle of vehicle close to the desire value,which improves vehicle stability under extreme condition obviously.

关 键 词：电动汽车 车辆稳定性 轮胎力 优化分配 

分 类 号：U463.1[机械工程—车辆工程] TP391.9[交通运输工程—载运工具运用工程]