四轮轮毂电动汽车质心侧偏角自抗扰控制  

Active disturbance rejection control for side- slip angle of four in-wheel driven electric vehicle

作　　者：陈锐[1] 孙鹤[1] 宋新飞[1] 张强[1] 

机构地区：[1]中国人民解放军第一航空学院航空电子工程系,河南信阳464000

出　　处：《电子技术应用》2016年第10期92-95,共4页Application of Electronic Technique

摘　　要：汽车的质心侧偏角对汽车稳定性和安全性有重要意义,设计了基于自抗扰控制理论的用于四轮轮毂电动汽车质心侧偏角的高性能控制策略。分析了汽车质心侧偏角控制的动态模型,并通过数学变换将其转换为二阶自抗扰控制器被控对象的标准形式;设计双层控制结构,包括直接横摆力矩制定层和转矩分配层。在直接横摆力矩制定层,利用二阶自抗扰控制器计算出控制质心侧偏角所需的附加横摆力矩;在转矩分配层,设计了转矩分配算法。最后,通过MATLAB/Simulink和汽车动力学仿真软件Car Sim联合仿真验证了所设计控制策略的有效性。The side- slip angle of vehicle has a great influence on stability and safety. The control for four in- wheel independent drive( 4WID) electric vehicles side- slip angle is designed. A two layer control model( direct yaw- moment control layer and torque distribution layer) is presented to achieve the high performance control. In the upper layer, a direct yaw- moment controller based on Active Disturbance Rejection Control( ADRC) is built through carefully analyzing the control system. Then the deviation torque is calculated for the purpose of control. In the lower layer, an algorithm is designed to distribute torque to the motor drive systems.In the end, the effectiveness of the controller is examined using a driving simulator system.

关 键 词：四轮轮毂 质心侧偏角 自抗扰控制技术 直接横摆力矩控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]