分布式驱动纯电动SUV车辆控制策略研究  

Study on control strategy of distributed driving electric SUV

作　　者：苏昊 余卓平[2,3] 熊璐[2,3] 张培志 SU Hao;YU Zhuoping;XIONG Lu;ZHANG Peizhi(Technical Center, SAIC Motor Corporation Limited, Shanghai 200041, China;School of Automotive Studies, Tongji University, Shanghai 201804, China;Collaborative Innovation Center of Intelligent New Energy Vehicle, Tongji University, Shanghai 201804, China)

机构地区：[1]上海汽车集团股份有限公司技术中心,上海200041 [2]同济大学汽车学院,上海201804 [3]同济大学智能型新能源汽车协同创新中心,上海201804

出　　处：《合肥工业大学学报（自然科学版）》2019年第4期439-444,555,共7页Journal of Hefei University of Technology：Natural Science

基　　金：国家科技支撑计划资助项目(2015BAG17B01);国家自然科学基金资助项目(U1564207)

摘　　要：文章分析了分布式驱动车辆控制系统框架,将控制系统分为整车控制层和执行器控制层;基于有限状态机(finite state machine,FSM)设计了整车控制策略,划分了车辆工作模式,设计了各个工作模式之间的切换路径与切换逻辑;基于转矩矢量控制(torque vectoring control, TVC)设计了包含横摆角速度跟踪控制和纵向力分配的车辆动力学控制算法。实车实验结果表明,各个工作模式能够按照期望路径切换,动力学控制算法能够准确响应上层行车需求。The frame of control system of distributed driving electric vehicle is analyzed and the system is divided into two parts-vehicle control and actuator control. Based on finite state machine(FSM), the different working modes are defined and the switching paths between them are designed. Based on torque vectoring control(TVC) theory, the vehicle dynamics control strategy is designed, including yaw velocity tracking control and longitudinal force distribution. The results of vehicle road tests show that the different modes switch as expected and the dynamics control strategy can respond to the needs of driver accurately.

关 键 词：分布式驱动 有限状态机(FSM) 转矩矢量控制(TVC) 整车控制策略 动力学控制 

分 类 号：U462.3[机械工程—车辆工程]