分布式驱动电动汽车的横向稳定性控制研究  

Research on lateral stability of distributed drive electric vehicle control

作　　者：王成 屈小贞[1] 孙晓帮[1] WANG Cheng;QU Xiaozhen;SUN Xiaobang(School of Automobile&Transportation Engineering,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,锦州121001

出　　处：《现代制造工程》2023年第11期63-69,共7页Modern Manufacturing Engineering

基　　金：辽宁省教育厅服务地方项目(LJKFZ20220236)。

摘　　要：为提高分布式驱动电动汽车的横向稳定性,旨在通过协同控制车辆的主动前轮转向系统与直接横摆力矩控制系统来实现。首先,基于整车线性二自由度模型,根据质心侧偏角-质心侧偏角速度的相平面描述的稳定区域边界设计上层控制器,再由相平面策略确定下层控制器中的主动前轮转向控制器和直接横摆力矩控制器的协调控制系数;然后,通过变结构滑模控制的下层控制器计算所需的附加前轮转角和附加横摆力矩来调整车辆驱动力矩分配;最后,分别进行双移线工况和阶跃工况下的硬件在环试验分析,试验结果表明,协同控制分布式驱动电动汽车的主动前轮转向系统与直接横摆力矩控制系统能更好地提高其横向稳定性。In order to improve the lateral stability of distributed drive electric vehicle,it aims to research the collaborative control of the vehicle′s active front wheel steering system and direct yaw moment control system.Firstly,based on the linear two-degree-of-freedom model of the whole vehicle,the upper controller was designed according to the stability region boundary described by the phase plane of the centroid sideslip angle and the centroid sideslip velocity,and then the coordination control coefficients of the lower controller about the active front wheel steering controller and direct yaw moment controller were determined by the phase plane strategy.Then,the vehicle′s torque distribution was adjusted by calculating the required additional front wheel angle and additional yaw moment through the lower controller of variable structure sliding mode control.Finally,the results of the hardware in the loop test about double shift and step conditions showed that the collaborative control of active front wheel steering system and direct yaw moment control system could better improve the lateral stability of distributed drive electric vehicle.

关 键 词：分布式驱动电动汽车 横向稳定性 协同控制 相平面 主动前轮转向 直接横摆力矩 

分 类 号：U463.4[机械工程—车辆工程]