电动汽车差动助力转向与主动前轮转向协调控制  

Coordination control of differential drive assisted steering and active front steering of electric vehicle

作　　者：王军年[1] 郭德东[1] 颜庭旭 Assadian Francis 罗正 WANG Jun-nian;GUO De-dong;YAN Ting-xu;ASSADIAN Francis;LUO Zheng(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;Department of Aerospace and Mechanical Engineering,University of California-Davis,Davis 95616,USA;Technology Center of Shanghai Automotive Group Co.,Ltd.,Shanghai 201804,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022 [2]加州大学戴维斯分校机械与航空工程系,戴维斯95616 [3]上海汽车集团股份有限公司技术中心,上海201804

出　　处：《吉林大学学报（工学版）》2020年第3期776-783,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(51875235);吉林省科技发展计划国际合作项目(20180414011GH);吉林省教育厅“十三五”科学技术研究规划项目(JJKH20180135KJ);吉林省专利优势科研团队培育项目(20190802015ZG).

摘　　要：装备差动助力转向(DDAS)系统的汽车匹配主动前轮转向(AFS)系统时,两者会相互干扰。DDAS助力时引入的横摆力偶矩会影响车辆的转向特性,反之,AFS的介入会导致转向盘转矩突变。为此,本文提出了一种差动协同主动转向(DDCAS)系统。首先,介绍了DDCAS系统的结构和动力学模型;然后,分别制定了DDAS和AFS的控制策略,分析了两系统的干扰机理,并制定了DDCAS控制策略。最后,在Matlab/Simulink与CarSim联合仿真平台上进行了典型工况的仿真分析,验证了本文控制策略的有效性。When the active front steering(AFS)system is applied to a vehicle equipped with differential drive assisted steering(DDAS)system,the two systems may interfere with each other.An additional yaw moment generated by DDAS will affect the cornering characteristics of vehicle.Conversely,the intervention of AFS will result in a sudden change of the steering wheel torque.To overcome this contradiction,a differential drive coordination active steering(DDCAS)control system is proposed in this paper.Firstly,the structure and the dynamic model of DDCAS system are introduced.Then,the control strategies of DDAS and AFS are designed,respectively.After that,the mutual interference mechanism between the two systems is analyzed,and the control strategy of DDCAS is designed.The simulation verification is carried out based on the Matlab/Simulink and CarSim co-simulation platform in typical driving conditions.Various simulation results show that the control strategy is effective.

关 键 词：车辆工程 电动轮 差动助力转向 主动转向 横摆角速度增益 协调控制 

分 类 号：U463.4[机械工程—车辆工程]