基于RBF滑模控制的分布式驱动电动车辆转向稳定性研究  

Research on Steering Stability of Distributed Drive Electric Vehicle Based on RBF Sliding Mode Control

作　　者：闫文志 智晋宁[1] 靳峰 YAN Wenzhi;ZHI Jinning;JIN Feng(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024

出　　处：《汽车实用技术》2024年第20期1-8,18,共9页Automobile Applied Technology

基　　金：山西省自然科学基金分布式驱动电动车辆转矩协调分配与容错控制研究(202203021211196)。

摘　　要：分布式驱动电动车辆四轮转矩独立可控,驱动电机响应较快、传动链短,但在转弯时由于车轮纵向力和侧向力之间的耦合关系,使车辆容易发生侧滑风险。因此,为提高分布式驱动电动车辆的转向稳定性,文章提出基于径向基函数(RBF)神经网络改进的滑模控制策略。整车采用分层控制结构,上层采用滑模控制器对横摆力矩进行控制,为避免“抖振”问题,引入RBF神经网络对传统滑模控制算法中的滑模增益进行优化改进;下层驱动力分配层根据轮胎垂向载荷的动态转移特性对四轮转矩进行合理分配,使其满足整车驱动力和附加横摆力矩需求,最后在CarSim和MATLAB/Simulink中进行联合仿真。结果表明,改进的滑模控制器在高速工况可以减小汽车前轮转角,转弯时横摆角速度、质心侧偏角分别可降低0.1 rad/s和0.01 rad,低速工况下横摆角速度和质心侧偏角分别可降低0.12 rad/s和0.013 rad,有效地改善车辆稳定性。The four-wheel torque of distributed drive electric vehicle is independent and controllable,the drive motor response is fast,and the transmission chain is short,but the vehicle is prone to sideslip risk due to the coupling relationship between the longitudinal and lateral forces of the wheel when turning.Therefore,in order to improve the steering stability of distributed drive electric vehicle,an improved sliding mode control strategy based on radial basis function(RBF) neural network is proposed in this paper.The vehicle adopts a layered control structure,and the upper layer adopts a sliding mode controller to control the yawing moment.In order to avoid the "buffeting" problem,a RBF neural network is introduced to optimize and improve the sliding mode gain in the traditional sliding mode control algorithm.The lower driving force distribution layer distributes the four-wheel torque reasonably according to the dynamic transfer characteristics of the vertical load of the tire,so that it can meet the driving force and additional yaw torque requirements of the vehicle.Finally,the joint simulation is carried out in CarSim and MATLAB/Simulink.The results show that the improved sliding mode controller can reduce the front wheel angle at high speed,the yaw speed and the side yaw angle of center of mass can be reduced by 0.1 rad/s and 0.01 rad,respectively,and the yaw speed and the side yaw angle of center of mass can be reduced by 0.12 rad/s and 0.013 rad at low speed,which can effectively improve the vehicle stability.

关 键 词：分布式驱动 电动车辆 滑模控制 稳定性 转矩分配 CARSIM MATLAB/SIMULINK 

分 类 号：U469.7[机械工程—车辆工程]