分布式驱动电动汽车横向稳定性抗饱和滑模控制  

Anti-saturation sliding mode control for lateral stability of distributed electric drive vehicle

作　　者：张志勇[1] 俞佳栋 杜荣华[1] ZHANG Zhiyong;YU Jiadong;DU Ronghua(College of Automotive and Mechanical Engineering,Changsha University of Science&Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学汽车与机械工程学院,湖南长沙410114

出　　处：《长沙理工大学学报（自然科学版）》2024年第3期134-142,共9页Journal of Changsha University of Science and Technology:Natural Science

基　　金：国家自然科学基金资助项目(51675057);湖南省自然科学基金资助项目(2020JJ4603);湖南省教育厅科学研究项目(18K049、20A018)。

摘　　要：【目的】探讨轮毂电机输出转矩的幅值和响应速度饱和的问题。【方法】以分布式电动驱动汽车为研究对象,结合二阶嵌套饱和函数对滑模控制进行抗饱和设计,并基于轮毂电机的峰值转矩及其在台架试验中的实际响应设计抗饱和滑模控制器的上下限参数。【结果】抗饱和滑模控制器能严格限制直接横摆力矩的幅值和变化速率,能极大地提高极限工况下车辆的横向稳定性。【结论】本文提出的方法有效解决了极限工况下轮毂电机易陷入饱和的问题,避免了因车轮滑移导致车辆失稳。[Purposes]This paper aims to solve the problem of saturation in terms of output torque amplitude and response speed of hub motors.[Methods]The distributed electric drive vehicle was studied,and the second-order nested saturation function was used for the anti-saturation design of sliding mode control.The upper and lower limit parameters of the anti-saturation sliding mode controller were designed based on the peak torque of the hub motor and the actual response of the hub motor in the bench experiment.[Findings]The anti-saturation sliding mode controller can strictly limit the amplitude and the change rate of direct yaw moment,and greatly improve the lateral stability of the vehicle under extreme working conditions.[Conclusions]The proposed method effectively solves the problem that the hub motor is easy to fall into saturation under extreme working conditions,and avoids the instability of the vehicle due to wheel slip.

关 键 词：横向稳定性控制 抗饱和滑模控制 分布式驱动电动汽车 转矩分配 轮毂电机 

分 类 号：U461.1[机械工程—车辆工程]