高速时转向盘角阶跃工况下电动轮汽车EPS与DYC的协调控制方法  

Study on the Coordinated Control of EPS and DYC in High Speed with Step Input of Steering Wheel Angle

作　　者：马金麟[1] 吴琦 张厚忠[2] MA Jinlin;WU Qi;ZHANG Houzhong(School of Automotive and Traffic Engineering;Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013 [2]江苏大学汽车工程研究院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2018年第3期53-61,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：江苏省战略性新兴产业发展专项资金资助项目(苏发改高技发(2015)1084号);江苏省电动车辆驱动与智能控制重点实验室开放研究课题(JLDICEV20150703);江苏大学校基金资助项目(13JDG034)

摘　　要：为了保证电动轮汽车在高速时转向盘角阶跃工况下的操纵稳定性与行驶安全性,对电动助力转向(electric power steering,EPS)与直接横摆力矩控制(direct yaw moment control,DYC)开展联合研究,并提出一种新型的电动轮汽车EPS与DYC的协调控制方法:根据横摆角速度与质心侧偏角等车辆运动参数,经上层控制器滑模变结构控制获取协调控制权重系数K和附加横摆力矩,通过协调控制权重系数K对EPS输出的转向助力矩进行修正,同时由附加横摆力矩对4轮的纵向力进行DYC分配。利用Car Sim软件和Matlab/Simulink软件分别建立整车机械动力学模型和整车协调控制模型,将两模型联立后开展联合仿真。仿真结果表明:将EPS与DYC进行协调控制,不仅可显著提高电动轮汽车在高速时转向盘角阶跃工况下的方向稳定性,而且通过协调权重系数K适当削弱了转向助力矩,可避免在高速工况下由于驾驶员心理紧张而造成的误操作。In order to ensure the operation stability and driving safety of electric vehicles under highspeed with step input of steering wheel angle condition,the coordinated control of electric power steering（ EPS） and direct yaw moment control（ DYC）,a coordinated control method based on EPSand DYC under high speed and high steering condition is proposed. It designs the joint sliding mode variable structure control algorithm to calculate the additional yaw moment,distributes the longitudinal force of the four wheels and feed back the yaw rate to the EPS,and proposes the coordinated control weight coefficient K to modify the EPS assist torque to improve the vehicle operation. Finally,it uses Car Sim to build electric vehicle model and Matlab/Simulink to build the coordination control model,and then builds Car Sim and Matlab/Simulink co-simulation platform. Simulation results show that the coordinated control method can significantly improve the operation stability and lateral stability of the electric vehicle under high speed with step input of steering wheel angle condition. The coordinated weight coefficient function is introduced to feedback the yaw rate to the EPS,which can weaken the steering torque and avoid the wrong operation caused by driver＇s mental tension.

关 键 词：电动轮汽车 电动助力转向 直接横摆力矩控制 协调控制 联合仿真 

分 类 号：TH16[机械工程—机械制造及自动化] U461.6[机械工程—车辆工程]