分布式电动车差动驱动与差动制动协调控制  

Coordinated Control of Differential Drive and Differential Braking for Distributed Electric Vehicles

作　　者：卢丽霞 李刚[1] 曹天琳 LU Li-xia;LI Gang;CAO Tian-lin(School of Automobile and Traffic Engineering,Liaoning University of Technology,Jinzhou Liaoning 121001,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出　　处：《计算机仿真》2023年第3期135-140,201,共7页Computer Simulation

基　　金：国家自然科学基金面上项目(51675257)。

摘　　要：针对分布式驱动电动车稳定性控制问题,提出了一种差动驱动与差动制动协调控制策略。基于模糊控制理论设计的模糊控制器计算附加横摆力矩,并通过二自由度车辆模型计算横摆角速度和质心侧偏角的期望值。基于最优控制中的二次规划理论计算出每个车轮的力矩。选取蛇形和双移线的典型实验工况,通过MATLAB/Simulink与CarSim联合仿真对控制算法进行验证。结果表明:差动驱动与差动制动协调控制策略能够有效提高汽车操纵稳定性和行驶安全性。可见,所提出的控制策略有效可行。Aiming at the stability control problem of distributed drive electric vehicles,a coordinated control strategy of differential drive and dfferential braking is proposed.The expected values of yaw rate and sideslip angle of mass center are calculated by using two-degree-of-freedom vehicle model.Based on the fuzzy control theory,a fuzzy controller is designed to calculate the additional yaw moment.Based on the quadratic programming theory of optimal control,the longitudinal moment of each wheel is calculated.The control algorithm is verified by CO simulation of MATLAB/Simulink and CarSim under snake and double line shifting conditions.The results show that the coordinated control strategy of differential drive and differential braking can effectively improve vehicle handling stability and driving safety.It can be seen that the proposed control strategy is reliable and effective.

关 键 词：协调控制 模糊控制 二次规划 力矩分配 仿真验证 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]