多轴分布式电驱动车辆后桥差动转向控制策略研究  

Research on Differential Drive Steering Control Strategy for Rear Axles of Multi-Axle Distributed Electric Drive Vehicle

作　　者：彭博[1] 李军求[1] 孙逢春[1] 朱学斌[2] 万存才[2] Peng Bo;Li Junqiu;Sun Fengchun;Zhu Xuebin;Wan Cuncai(Beijing Institute of Technology, National Engineering Laboratory for Electric Vehicles, Beijing 100081;Taian Space Special Vehicle Co., Ltd., Taian 271000)

机构地区：[1]北京理工大学,电动车国家工程实验室,北京100081 [2]泰安航天特种车有限公司,泰安271000

出　　处：《汽车工程》2020年第7期909-916,共8页Automotive Engineering

基　　金：北京市科技计划课题(Z181100004618004)资助。

摘　　要：首先建立了八轴分布式电驱动车辆动力学模型,提出了基于质心侧偏角的差动转向双层控制策略,上层控制器以质心侧偏角及其变化率和前轮转角为输入,采用模糊控制生成机械转向桥和差动转向桥的转向中心相对位置,从而获得后桥转向参考转向角;下层控制器以上层转向参考角为控制目标,采用增量式数字PI控制得到后桥电机的差动转矩。最后选取中高速工况,进行硬件在环仿真,验证了后桥差动转向控制效果和实时性。结果表明,与理想阿克曼转向策略相比,该策略能有效减小车辆转向过程中质心侧偏角,并保证了转向稳定性。Firstly,the dynamics model for an eight-axle distributed electric drive vehicle is established,and a two-layer control strategy for differential steering based on centroid sideslip angle is proposed.The upper controller takes the centroid sideslip angle and its change rate and the turning angle of front wheel as inputs,and adopts fuzzy control to generate the relative positions of the steering centers of mechanical steering axle and differential steering axle,to obtain the reference steering angle of rear axle.The lower controller takes the reference steering angle in upper controller as the control target,and adopts the incremental digital PI control to obtain the differential torque of rear axle motor.Finally,a hardware-in-the-loop simulation is conducted to verify the control effect and real-time performance of differential steering of rear axle under medium and high speeds conditions.The results indicate that compared with the ideal Ackerman steering strategy,the strategy proposed can effectively reduce the centroid sideslip angle of vehicle in the process of steering and ensure steering stability.

关 键 词：差动转向 分布式驱动 双层控制策略 模糊控制 转向稳定性 

分 类 号：U46[机械工程—车辆工程]