分布式驱动电动汽车直接横摆力矩控制策略与仿真验证  

Direct yaw moment control strategy and simulation for distributed driving electric vehicle

作　　者：张一西 马建[1] 唐自强 刘晓东 贺伊琳[1] ZHANG Yi-xi;MA Jian;TANG Zi-qiang;LIU Xiao-dong;HE Yi-lin(School of Automobile,Chang′an University,Xi′an 710064,China;SAIC Motor Corporation Limited Technical Center,Shanghai 201800,China)

机构地区：[1]长安大学汽车学院,陕西西安710064 [2]上汽集团技术中心,上海201800

出　　处：《甘肃农业大学学报》2018年第4期159-167,176,共10页Journal of Gansu Agricultural University

基　　金：国家高新技术研究发展计划(863计划)项目(2012AA111106);国家自然科学基金青年基金项目(51507013);陕西省工业科技攻关项目(2016GY-043);中央高校基本科研业务费专项资金项目(310822173201);陕西省自然科学基础研究计划青年人才项目(2016JQ5012)

摘　　要：【目的】改善分布式驱动电动汽车复杂行驶工况下的操纵稳定性.【方法】提出了一种分布式驱动电动汽车直接横摆力矩双层控制策略,上层根据参考模型和车辆实际状态参数,基于模糊控制规则决策出维持车辆稳定所需的附加横摆力矩,并基于Carsim中无控制双移线工况仿真结果,确定了模糊控制变量的基本论域范围;下层以提高操纵稳定性为目标,引入HSRI轮胎模型,并充分考虑电机和路面附着极限等约束条件将所需的横摆力矩进行优化分配,在Matlab/Simulink-Carsim联合仿真环境下建立控制策略,通过正弦迟滞和双移线工况仿真验证控制策略的性能.【结果】仿真结果表明,相比于等转矩分配,正弦迟滞工况和双移线工况下横摆角速度和质心侧偏角的跟踪滞后时间缩短,且最大跟踪误差分别减小了约98%、97%.【结论】直接横摆力矩双层控制策略能够有效地实现横摆力矩优化分配,提高了车辆的操纵稳定性和行驶安全性.【Objective】In order to improve the handling and stability of distributed driving electric vehicle under complex working condition.【Method】A double layer control strategy for direct yaw moment of distributed driving electric vehicle was proposed.In the upper layer,based on the vehicle reference model and actual state parameters,the fuzzy controller was designed to calculate the additional yaw moment,and then based on the Carsim simulation results under double lane change without control condition,the variables scope of fuzzy controller were determined.In the lower layer,based on the HSRI tire model、considering the motor and road adhesion constraints,the additional yaw moment were optimally distributed.Then the control strategy model was established at the Matlab/Simulink-Carsim co-simulation environment,and the performance of control strategy under sinusoidal hysteretic and double lane change conditions were verified.【Result】Simulation results show that,comparing to the equal torque distribution method,the proposed control strategy can reduce the tracking delay time of yaw rate and side slip angle,the maximum tracking error was reduced by about 98%,97%respectively.【Conclusion】The proposed double layer control strategy is an effective method which meet the requirements of yaw moment optimal distribution and improve the handling stability and driving safety.

关 键 词：分布式驱动 直接横摆力矩 模糊控制 优化分配 

分 类 号：U461.6[机械工程—车辆工程]