四轮轮毂电机电动车横摆力矩模糊控制研究  

Study on Yaw Moment Control for Electric Vehicle with Four-Wheel in-Wheel Motor Based on Fuzzy Control

作　　者：李刚[1] 韩海兰[1] 

机构地区：[1]辽宁工业大学汽车与交通工程学院

出　　处：《机械设计与制造》2016年第3期26-29,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金青年基金资助项目(51305190);辽宁省教育厅项目(L2013253)

摘　　要：针对四轮轮毂电机电动车横摆力矩控制问题,论文确定了整车横摆力矩分层控制结构,基于模糊控制理论设计了附加横摆力矩决策控制器,利用四轮驱动力矩独立可控的优势,采用规则驱动力分配方法对四轮驱动力矩进行分配。通过选取低附着、变车速、方向盘转角为增幅正弦输入的开环实验工况,基于Car Sim与Matlab/Simulink联合仿真,对控制方法进行了验证,并与PID控制效果进行了对比分析。仿真结果表明:所研究的模糊控制方法能够提高车辆行驶稳定性,且比PID控制能更有效地提高汽车的行驶稳定性。For the yaw moment control of electric vehicle with four-wheel in-wheel nwtors, the yaw moment hierarchical control structure is determined and the additional yaw-moment decision-making controller is designed based on fuzzy control theory. Taking advantage of that the four wheel drive torques are independently controllable, rule allocation method is used for four-wheel drive forces distribution. The control method is verified by CarSim and Matlab/Simulink co-simulation test and is compared with the PID control method through select low adhesion, variable speed and steering wheel angle with growth of sinusoidal input open-loop working condition. The results show that the yaw moment based on fuzzy control method can improve vehicle driving stability effectively compared to the no control and is better than the PID control method.

关 键 词：电动车 轮毂电机 横摆力矩控制 模糊控制 行驶稳定性 

分 类 号：TH16[机械工程—机械制造及自动化] U461.9[机械工程—车辆工程]