面向越野车辆通过性安全的转矩协调分配研究  

Research on Torque Coordination Distribution for Off-road Vehicle Passing Ability and Safety

作　　者：王勇源 曹正策[1] 唐敦普 李健[3] WANG Yongyuan;CAO Zhengce;TANG Dunpu;LI Jian(School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,China.;不详)

机构地区：[1]武汉理工大学汽车工程学院,湖北武汉430070 [2]武汉众宇动力系统科技有限公司,湖北武汉430058 [3]华中科技大学电气与电子工程学院,湖北武汉430074

出　　处：《武汉理工大学学报（信息与管理工程版）》2023年第1期34-40,48,共8页Journal of Wuhan University of Technology：Information & Management Engineering

基　　金：国家自然科学基金面上项目(51877094).

摘　　要：为了实现在通过越野地形和通过平整路面上大功率驱动时飞转车轮滑转率的快速平滑收敛,以及在执行器外特性与稳定性约束下实时优化各轮毂电机驱动功率利用率,采用前馈-反馈的闭环架构设计了纵向运动控制策略,其中前馈环节是基于垂向轮荷的实时估计与力矩矢量的预分配,优化驱动响应性并使各轮滑转率的方差最小。引入自适应滑模控制器动态跟踪四轮滑转率控制误差,构建基于鲁棒性、稳定性优化的反馈回路。仿真结果表明:该转矩协调控制系统可以有效地改善车辆的越野通过性,同时将轮胎滑移率控制在稳定范围内,提高车辆安全性。In order to realize the fast and smooth convergence of the slip rate of the flying wheel when driving through the off-road terrain and through the high-power driving on the flat road surface,and to optimize the driving power utilization of each hub motor in real time under the constraints of the external characteristics and stability of the actuator,a feedforward-feedback closed-loop architecture is used to design the longitudinal motion control strategy.The feedforward link is based on the real-time estimation of the vertical wheel load and the pre-distribution of the torque vector,which optimizes the drive responsiveness and minimizes the variance of the slip rate of each wheel.Besides,the adaptive sliding mode controller is initiated in the feedback loop based on robust and stability optimization to track the wheel slip rate control error dynamically.The simulation indicates that the torque coordination system can effectively improve the off-road trafficability of the vehicle,and control the tire slip rate within a stable range to improve the vehicle safety.

关 键 词：汽车动力学 分布式驱动 转矩协调控制 稳定性控制 非线性模型预测控制(NMPC) 

分 类 号：U461.1[机械工程—车辆工程]