分布式双电机后驱电动汽车的横摆稳定性控制策略  

Research into yaw stability control strategy for electric vehicle with distributed dual-motor rear drive

作　　者：谭子胡 龚贤武[2] 赵轩[1] 马建[1] TAN Zihu;GONG Xianwu;ZHAO Xuan;MA Jian(College of Automobile,Chang'an University,Xi'an 710064,China;School of Electronic Control,Chang'an University,Xi'an 710064,China;Technology center of Great Wall Motor,Baoding 075000,China)

机构地区：[1]长安大学汽车学院,陕西西安710064 [2]长安大学电控学院,陕西西安710064 [3]长城技术中心,河北保定075000

出　　处：《甘肃农业大学学报》2024年第3期318-326,共9页Journal of Gansu Agricultural University

基　　金：国家重点研发计划项目(2017YFC0803904);国家自然科学基金项目(51507013)。

摘　　要：【目的】为了提高车辆的横摆稳定性,提出了一种三层结构的分布式双电机后驱电动汽车横摆稳定性控制策略。【方法】上层观测器采用扩展Kalman滤波器估计动态前后轴的侧偏刚度,以提高控制系统的模型精度与稳定性;中层控制器采用基于正切函数的滑模控制器对系统误差进行控制,通过调节系统误差调节期望的附加横摆力矩的大小;下层控制器以轮胎利用率之和最小为优化目标,将期望的附加横摆力矩分配到后轴驱动轮上,从而实现弯道行驶过程中车辆的横摆稳定性控制。【结果】仿真结果表明,相比于采用静态侧偏刚度的横摆稳定性控制系统,最大滑模面误差减少了44%,横摆角速度期望值趋近于实际值的程度提高了10.5%。【结论】本文设计的控制策略具有更好的鲁棒性,同时动态侧偏刚度使横摆角速度期望模型的期望值更趋近于实际横摆角速度值。【Objective】 In order to improve the yaw stability of the vehicle,a yaw stability control strategy of a rear-distributed dual-motor electric vehicle is proposed,and a three-layer system construction is adopted.【Method】 The extended Kalman filter is used to estimate the dynamic cornering stiffness of the front and rear axles to improve the model accuracy and stability of the control system in the upper observer layer.The sliding model controller based on the tangent function is used to control the system parameter error and to adjust the additional desired yaw torque in the middle controller layer;considering the minimum sum of tyre utilization as the optimal objectives,the additional desired yaw torque is distributed to the rear axle drive wheels to realize the vehicle yaw stability during cornering in the lower controller layer.【Result】 The simulation test result shows that by adopting dynamic cornering stiffness,the maximum sliding surface error is reduced by 44% and the desired yaw rate,which is close to the actual yaw rate,is increased by 10.5%compared to the reference.【Conclusion】 The designed control strategy is more robust and the dynamic cornering stiffness makes the desired yaw rate model closer to the actual yaw rate value.

关 键 词：KALMAN 侧偏刚度 横摆稳定性 三层结构 

分 类 号：U461[机械工程—车辆工程]