四驱电动汽车变附着路面行驶操稳性控制研究  

Research on Handling Stability Control of Four-Wheel Drive Electric Vehicle on Road with Variable Adhesion Coefficient

作　　者：顾柳恒 张军[1] GU Liu-heng;ZHANG Jun(School of Mechanics and Vehicles,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《机械设计与制造》2024年第2期36-40,共5页Machinery Design & Manufacture

摘　　要：针对四轮驱动电动汽车行驶时路面峰值附着系数和附着利用率变化的问题,提出利用直接横摆力矩控制提高操纵稳定性的控制策略。该策略采用分层控制,上层控制器负责目标车速的追踪、滑移率调整力矩的计算、以及根据行驶危险程度实现对质心侧偏角和横摆角速度的协调控制,下层控制器包括以轮胎利用率最优为目标的分配算法及集成滑移率控制的分配算法,根据滑移率大小实时切换。Carsim-Simulink联合仿真结果表明,在对开路面行驶时,相比于转矩平均分配控制策略,该控制策略能够使车辆具有良好操稳性的同时保持各车轮处于最佳滑移率区间内,有效改善了车辆性能。In order to solve the problem of the change of the peak adhesion coefficient and adhesion utilization ratio of four-wheel drive electric vehicles,a control strategy of direct yaw moment control was proposed to improve the handling stability.This strategy adopts the hierarchical control,the upper controller is responsible for the tracking of the target velocity,slip ratio adjust torque calculation,and achieves the coordinated control of sideslip angle and yaw rate according to the driving danger degree.The lower controller includes an allocation algorithm aiming at optimal tire utilization and an allocation algorithm integrating slip ratio control,which can be switched according to the slip ratio.The Carsim-Simulink co-simulation results show that,compared with the average torque distribution control strategy,the control strategy can make the vehicle have good handling stability while keeping each wheel in the optimal slip ratio range,and effectively improve vehicle performance when driving on the split road.

关 键 词：四轮驱动电动汽车 直接横摆力矩控制 分层控制 附着系数 滑移率控制 

分 类 号：TH16[机械工程—机械制造及自动化]