四轮独驱电动车横摆力矩与主动转向协调控制  

Study on Coordinated Control of Yaw Moment and Active Steering for Four-Wheel Independent Drive Electric Vehicle

作　　者：李刚[1] 雷永强[1] 马高峰[1] LI Gang,LEI Yong-qiang,MA Gao-feng(Automobile ＆ Transportation Engineering College,Liaoning niversity of Technology,Liaoning Jinzhou 121001, Chin)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出　　处：《机械设计与制造》2018年第8期229-232,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金青年基金项目(51305190);国家自然科学基金项目(51675257);吉林大学汽车仿真与控制国家重点实验室开放基金项目(20120111)

摘　　要：针对四轮独驱电动车横摆力矩与主动转向协调控制问题,论文基于模糊控制理论,进行四轮独驱电动车横摆力矩与主动转向协调控制研究。给出了整车协调控制原理,设计了横摆力矩模糊控制器、主动转向模糊控制器、协调控制器和驱动力分配器,其中协调控制器根据车速和方向盘转角分配横摆力矩控制器权重系数和主动转向控制器权重系数,驱动力分配器利用四轮驱动力矩独立可控优势采用规则分配方法分配四轮驱动力。基于CarSim与Matlab/Simulink联合仿真实验,选择紧急双移线工况对所研究的控制算法进行实验验证。结果表明:协调控制相对于单一横摆力矩控制或主动转向控制,更好地提高了汽车操纵稳定性。For the yaw moment and active steering coordinated control for four-wheel independent drive electric vehicle,the coordinated control method is studied based on the fuzzy control theory in this paper. The vehicle coordinated control strategy is determined. The yaw moment fuzzy controller,active steering fuzzy controller,coordinated control controller and drive forces distributor are designed. The coordinated control distributes the yaw moment control weight coefficient and active steering control weight coefficient based on velocity and steering wheel angle. The drive forces distributor are designed to distribute four-wheel drive torque by using the rule allocation method taking the advantage of that the four wheel drive torque are controlled independently. The control method is verified by Car Sim and Matlab/Simulink co-simulation test based on emergency double line condition. The results show that the coordinated control relatives to single yaw moment control or active steering control can improve vehicle handling stability effectively.

关 键 词：四轮独驱电动车 横摆力矩控制 主动转向控制 协调控制 权重系数 

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]