轮毂电动机驱动滑移转向车辆驱动力控制  

Driving force control of wheel motor drive skid steer vehicle

作　　者：付翔[1,2,3,4] 赵熙金 刘道远 FU Xiang;ZHAO Xijin;LIU Daoyuan(School of Automotive Engineering,Wuhan University of Technology,Wuhan,Hubei 430070,China;Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan University of Technology,Wuhan,Hubei 430070,China;Hubei Collaborative Innovation Center for Automotive Components Technology,Wuhan University of Technology,Wuhan,Hubei 430070,China;Hubei Engineering Technology Research Center for New Energy and Intelligent Connected Vehicle,Wuhan University of Technology,Wuhan,Hubei 430070,China)

机构地区：[1]武汉理工大学汽车工程学院,湖北武汉430070 [2]武汉理工大学现代汽车零部件技术湖北省重点实验室,湖北武汉430070 [3]武汉理工大学汽车零部件技术湖北省协同创新中心,湖北武汉430070 [4]武汉理工大学湖北省新能源与智能网联车工程技术研究中心,湖北武汉430070

出　　处：《江苏大学学报（自然科学版）》2023年第3期254-261,共8页Journal of Jiangsu University：Natural Science Edition

基　　金：武汉理工大学自主创新研究基金资助项目(107-3120620906)。

摘　　要：为提高滑移转向车辆机动性和稳定性,以轮毂电动机驱动滑移转向车辆为研究对象,充分利用转矩矢量控制在车辆动力学中的优势,针对传统滑模控制存在抖振问题,提出了一种基于自适应模糊滑模控制(adaptive fuzzy sliding mode control,AFSMC)的直接横摆力矩控制方法.设计自适应模糊滑模控制器,计算跟随控制目标所需的附加横摆力矩,构建模糊系统实时逼近变增益符号函数,模糊自适应律通过Lyapunov方法导出,提高控制策略的鲁棒性并抑制输出控制量的抖振问题.对下层控制器,提出了一种基于优化分配的驱动力分配方案,根据轮胎负荷率和加权因子建立目标函数.所提出的策略充分考虑了车辆的非线性动力学特性.实车试验结果表明:所提出的控制策略能够在车辆操纵性和稳定性方面获得良好的性能,控制系统具有较强的鲁棒性.To improve the maneuverability and stability of the skid steer vehicle driven by hub motors,the advantages of torque vectoring control in vehicle dynamics were fully utilized.To solve the chattering problem in traditional sliding mode control,a direct yaw moment control method was proposed based on adaptive fuzzy sliding mode control(AFSMC).The AFSMC controller was designed to calculate the additional yaw moment for following the control target,and a fuzzy system was constructed to approximate the variable gain sign function in real time.The fuzzy adaptive law was derived through the Lyapunov method to enhance the robustness of the control strategy and suppress output control chattering.For the lower level,an optimized driving force distribution scheme based on tire load rate and weighting factors was proposed by establishing an objective function.In the proposed strategy,the nonlinear dynamic characteristics of the vehicle was fully considered.The experimental results on a real vehicle show that by the proposed control strategy,the good performance in vehicle handling and stability can be achieved with strong robustness of the control system.

关 键 词：轮毂电动机 滑移转向 自适应模糊滑模控制 驱动力分配 

分 类 号：U461.1[机械工程—车辆工程]