基于稳定性的四轮独立驱动电动汽车转矩分配策略研究  

Research of Torque Allocation Strategy of Four-wheel Independent Driving Electric Vehicle Based on Stability

作　　者：张缓缓[1,2] 向绪爱[1] 叶克宝 

机构地区：[1]上海工程技术大学汽车工程学院,上海201620 [2]吉林大学汽车仿真与控制国家重点实验室,吉林长春130025

出　　处：《公路交通科技》2016年第5期141-146,共6页Journal of Highway and Transportation Research and Development

基　　金：汽车仿真与控制国家重点实验室开放基金项目(20121114);上海工程技术大学研究生创新项目(E1-0903-14-01137)

摘　　要：为了研究四轮独立驱动电动汽车在极限工况下的稳定性,采用了基于BP神经网络的PID控制方法联合控制横摆角速度与质心侧偏角进行转矩分配。首先分析了稳定性的主要特征参数,并确定了控制变量,对独立驱动电动汽车的转矩分配控制策略进行了设计,控制器包括上层控制器与下层控制器。在上层控制器中,根据纵向力的需求,设计了PID控制方法进行速度控制;制定了基于BP算法的PID控制器控制横摆角速度与质心侧偏角产生横摆力矩。在下层控制器中,采用模糊控制方法控制滑移率。最后对所设计的控制系统进行了仿真研究,仿真结果表明:所设计的转矩分配控制策略能够保证车辆在极限工况下行驶的安全稳定性。In order to research the stability of four-wheel independent driving electric vehicle under extreme driving condition,a torque allocation method of PID control based on BP neural network is adopted to control both yaw rate and sideslip angle. The main characteristic parameters of the stability are analyzed at first,the control variables are determined,and the torque allocation control strategy for independent driving electric vehicle is designed. There are two layers in the controller,which includes the upper layer and the lower layer. In the upper layer,according to the demand of the longitudinal force,the PID control method is designed for speed control,and the PID controller based on BP algorithm is set up to control the yaw moment created by yaw rate and side-slip angle. In the lower layer,a fuzzy control method is adopted to control slip rate. Finally,the designed control system is simulated. The result shows that the designed torque allocation control strategy can ensure the driving safety and stability of the vehicle under extreme driving conditions.

关 键 词：汽车工程 转矩分配 神经网络PID控制 电动汽车 车辆稳定性 

分 类 号：TH113.2[机械工程—机械设计及理论]