基于稳定性的DEV分层控制策略研究  

DEV hierarchical control strategy based on stability

作　　者：赵涛 李强 邢紫筱 吴坚 ZHAO Tao;LI Qiang;XING Zixiao;WU Jian(School of Mechanical and Energy Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,Zhejiang,China;School of Engineering,the University of Edinburgh,Edinburgh,EH89YL,United Kingdom)

机构地区：[1]浙江科技学院机械与能源工程学院,杭州310023 [2]爱丁堡大学工程学院,爱丁堡EH89YL

出　　处：《浙江科技学院学报》2020年第1期64-70,共7页Journal of Zhejiang University of Science and Technology

基　　金：浙江省自然科学基金项目(LY13E050023)

摘　　要：利用分布式驱动电动汽车(distributed-driven electric vehicle,DEV)转矩可灵活分配的特点,提出一种基于分层控制的最优转矩协调分配控制策略以提高整车操纵稳定性。设计了上下两层控制器:上层作为集中控制器,以期望横摆角速度作为目标,根据当前汽车状态及路面条件计算出使汽车保持稳定运行状态所需的总驱动转矩,并分配至各驱动轮;下层作为分布控制器,以各驱动轮滑转率为控制变量,采用PID控制算法对各驱动轮施加补偿转矩,使滑转率控制在最优滑转率附近,以提高汽车操纵稳定性。在MATLAB/Simulink中建立相应的仿真模型、控制器,并设计相应的控制策略,对不同路面进行多工况仿真验证。结果表明:控制器的控制策略能较好地利用路面的附着力,在一定程度上改善了车辆启动时的滑转现象,从而提高了整车转弯时的操纵稳定性。Given the flexible distribution of distributed drive electric vehicle(DEV)torque,an optimal torque coordinated distribution control strategy was proposed on the basis of hierarchical control to improve the vehicle handling stability.The control strategy was designed with upper and lower layers of controllers.The upper layer acted as a centralized controller,with the desired yaw rate as the target,and calculated the total driving torque required to maintain the vehicle in a stable operating state according to the current vehicle state and road surface conditions,and distributed it to each of the driving wheels.The lower layer acted as a distribution controller,each driving wheel slip rate being a control variable.The PID control algorithm was used to apply compensation torque to each driving wheel,so that the slip rate was approximating the optimal slip rate to improve the vehicle handling stability.The corresponding simulation models and controllers were established in Matlab/Simulink,and the corresponding control strategies were designed to simulate and verify the multi-case simulation of different road surfaces.The results show that the control strategy of the controller can make good use of adhesion of the road surface,which has improved the slip phenomenon in some measure when the vehicle starts,so as to improve the handling stability of the whole vehicle when turning.

关 键 词：分布式驱动 电动汽车 分层控制 转矩分配 

分 类 号：U461.6[机械工程—车辆工程]