双模耦合驱动智能电动汽车对开坡道行驶稳定性控制  

Driving Stability Control of a Dual-mode Coupling Drive Intelligent Electric Vehicle on Bisectional Slopes

作　　者：张利鹏[1,2] 刘欣 刘帅帅[1,2] 张猗淼 施凯鑫[1,2] 赵明慧 ZHANG Li-peng;LIU Xin;LIU Shuai-shuai;ZHANG Yi-miao;SHI Kai-xin;ZHAO Ming-hui(School of Vehicle and Energy,Yanshan University,Qinhuangdao 066004,Hebei,China;Hebei Key Laboratory of Special Delivery Equipment,Yanshan University,Qinhuangdao 066004,Hebei,China)

机构地区：[1]燕山大学车辆与能源学院,河北秦皇岛066004 [2]燕山大学河北省特种运载装备重点实验室,河北秦皇岛066004

出　　处：《中国公路学报》2024年第3期204-215,共12页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(52272407);河北省省级科技计划项目(226Z2202G);河北省高等学校科学研究重点项目(ZD2022029)。

摘　　要：分布式驱动智能电动汽车可以通过独立分配各轮驱动力矩来保证在对开坡道行驶时的通过性,但对各轮力矩输出具有很高要求且难以保证车辆侧向稳定性。为解决上述问题,基于所发明的具备集中式和分布式耦合驱动功能的双模耦合驱动系统,提出了协同耦合式驱动防滑和主动转向的对开坡道行驶稳定性控制方法。首先,建立了整车模型,分析了在对开坡道上采用双模耦合驱动提升车辆通过性的动力学机理;其次,设计了基于耦合式驱动防滑与主动转向协同的行驶稳定性控制系统,包括可以实现最优滑转率控制的上层驱动防滑控制器、用于减少控制超调量并抵消差动驱动附加转向的主动转向前馈控制器以及为解决车速干扰的基于T-S模糊化模型预测控制的主动转向反馈控制器;最后,开展了对开坡道行驶稳定性控制效果离线仿真和实车试验验证。研究结果表明:在10%的对开坡道上,耦合式驱动比分布式驱动的爬坡能力提升了41.32%;对比无前馈协同控制,所提出的协同控制方法可将侧向位移误差量减少68%,调整时间缩短10.81%。所提出的控制方法不仅能极大提升整车对开坡道的动力性和通过性,还可以很好地保证其方向稳定性。Distributed-drive intelligent electric vehicles can yield improved maneuverability when driving on bisectional slopes by independently distributing the driving torque of each wheel.However,they require a high torque output at each wheel and posing challenges in maintaining vehicle lateral stability.To address these issues,a dual-mode coupling drive system that can achieve a centralized and distributed coupling drive function was developed to jointly control the coupling drive anti-slip control and active steering systems to improve driving stability on bisectional slopes.First,a vehicle model was established.Subsequently,the dynamic mechanism of using the dual-mode coupling drive to improve vehicle maneuverability on bisectional slopes was analyzed.Second,a driving stability control system based on the coordination of the coupling drive anti-slip and active steering systems was designed.The designed system consists of an upper-level anti-slip controller that achieves optimal slip rate control,active steering feedforward controller that reduces control overshoot and counteracts differential torque,and active steering feedback controller based on T-S fuzzy model predictive control designed to mitigate speed disturbances.Finally,an offline simulation and real vehicle test verification were conducted to assess the driving stability control effect.The research results indicated that on a 10%gradient bisectional slope,the coupling drive significantly enhanced the vehicle's dynamic performance by 41.32%compared to the performance achieved with a distributed drive system.Compared with the control method without feedforward coordination,the proposed coordinated control reduced the lateral displacement error by 68%and shortened the adjustment time by 10.81%.The proposed control method not only significantly improves the power delivery and maneuverability characteristics of the vehicle but also improves its directional stability.

关 键 词：汽车工程 智能电动汽车 双模耦合驱动 驱动防滑控制 主动转向 协同控制 

分 类 号：U469.72[机械工程—车辆工程]