四轮毂驱动电动车辆横向稳定与侧倾预防协同控制策略  

Coordinated lateral stability and rollover prevention control for four⁃wheel independent motor drive electric vehicles

作　　者：江和耀 王永海 吴幼冬 王萍[2] JIANG He-yao;WANG Yong-hai;WU You-dong;WANG Ping(The 713rd Research Institute of China State Shipbuilding Corporation Limited,Zhengzhou 450015,China;College of Communication Engineering,Jilin University,Changchun 130022,China)

机构地区：[1]中国船舶集团有限公司第七一三研究所,郑州450015 [2]吉林大学通信工程学院,长春130022

出　　处：《吉林大学学报（工学版）》2024年第2期540-549,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金面上项目(62073152)。

摘　　要：针对四轮轮毂驱动电动汽车在模型预测控制的框架下协同车辆的侧向、横摆运动与侧倾行为,提出一种集成车辆侧向稳定及防侧倾功能的控制策略。首先,为保证预测模型精度,采用非线性轮胎侧向力模型,对车辆未来侧向、横摆及侧倾状态进行预测;然后,基于模型预测控制方法设计控制器,将提高操纵性能、横向稳定性、抑制侧倾、平顺性和安全性等多个控制需求在控制器中集成考虑;最后,仿真实验结果表明:提出的控制器能有效改善车辆在高速急转向时的操纵稳定及侧向稳定性,并有效降低车辆侧倾风险。对于车辆质量增大及质心高度增加引起的高侧倾风险情况,即使控制器面对未知的车辆变化,亦可及时有效地调整车辆姿态防止车辆侧翻,保证行驶安全。In this paper,a control strategy integrating lateral stability and rollover prevention of four-wheel independent drive electric vehicle was proposed in the framework of model predictive control(MPC)to coordinate the lateral,yaw and roll behaviors of the vehicle.Firstly,to ensure the accuracy of the prediction model,the nonlinear tire lateral force model was utilized to predict the future lateral,yaw and roll states of the vehicle.Then,the controller was designed based on the model predictive control method,and multiple control requirements such as improving handling performance,lateral stability,preventing rollover,ride comfort and safety were integrated into the controller.Finally,the simulation results show that the proposed controller can effectively improve the handling stability and lateral stability of the vehicle in high-speed steering,and effectively reduce the roll risk.For the situation of high roll risk caused by the increase of vehicle mass and height of center of mass,even if the controller faces unknown vehicle changes,it can timely and effectively adjust vehicle attitude to prevent vehicle rollover and ensure driving safety.

关 键 词：模型预测控制 车辆稳定性控制 防侧倾控制 紧急转向行驶 

分 类 号：U461.6[机械工程—车辆工程]