基于稳定度指标的分布式驱动车辆转向稳定性控制研究  

Research on Vehicle Steering Stability Control for Distributed Driving Based on Stability Index

作　　者：张树培[1] 张生 张玮[1] 朱建旭 Zhang Shupei;Zhang Sheng;Zhang Wei;Zhu Jianxu(Jiangsu University,Zhenjiang 212013)

机构地区：[1]江苏大学,镇江212013

出　　处：《汽车技术》2022年第2期28-35,共8页Automobile Technology

基　　金：国家重点研发计划项目(2018YFB0106405);江苏大学高级专业人才科研启动基金项目(13JDG036)。

摘　　要：针对装有轮毂电机的分布式驱动车辆,设计了一种车辆稳定性控制系统,该系统包括上层附加横摆力矩决策和下层转矩分配2个层次。基于滑模控制理论设计了上层β-ω联合控制器,并用修正的五参数菱形法划分车辆相平面的稳定域,基于此设计稳定度指标进行失稳判断与控制比例分配,下层基于动态载荷理论分配附加横摆力矩,优化了控制分配效果,在MATLAB/Simulink车辆动力学分析环境中进行了仿真分析。结果表明,设计的控制系统可以根据实际工况合理分配控制比例,提高了车辆的转向行驶稳定性,降低了驾驶员的驾驶强度。A vehicle stability control system is designed for distributed driving vehicles equipped with in-wheel motors that consists of 2 layers:upper layer of additional yaw moment decision-making and lower layer of torque distribution.In the upper layer,theβ-ωjoint controller is designed based on the sliding mode control theory,and the vehicle phase plane stability region is divided by the modified five-parameter diamond method to design the stability index for instability judgment and control proportional distribution.In the lower layer,additional yaw moment is allocated based on dynamic load theory,which optimizes the control allocation effect.The simulation analysis is conducted in the MATLAB/Simulink vehicle dynamics analysis environment.The results show that the designed control system can rationally allocate the control proportion according to the actual working conditions,which improves the steering stability of the vehicle and reduces the driving intensity of the driver.

关 键 词：稳定性控制 分布式驱动 稳定度指标 相平面 控制分配 

分 类 号：U461.6[机械工程—车辆工程]