四轮轮毂驱动车辆横向稳定性的底盘协同控制  

Chassis Coordinated Control for Lateral Stability of Four-in-Wheel-Motor-Drive Vehicles

作　　者：俞志豪 罗荣康 吴佩宝 侯之超[1] Yu Zhihao;Luo Rongkang;Wu Peibao;Hou Zhichao(School of Vehicle and Mobility,Tsinghua University,Beijing 100084)

机构地区：[1]清华大学车辆与运载学院,北京100084

出　　处：《汽车工程》2024年第10期1733-1743,共11页Automotive Engineering

摘　　要：为了改善四轮轮毂驱动车辆的横向稳定性,本文提出一种综合转矩协调和主动后轮转向的底盘协同控制策略。该策略旨在跟踪期望的车辆横摆角速度和质心侧偏角的同时,有效抑制车身侧倾。基于轮毂电机驱动产生的垂向反力特性,设计了车辆纵向、横摆和侧倾运动的转矩协调解耦控制策略。为降低车辆横向动力学建模时忽略的非线性因素及模型不确定性对控制性能的影响,面向底盘协同控制设计了一种基于扰动观测器的模型预测控制方法,对非线性特性和不确定性进行估计和补偿。同时开展了硬件在环测试,通过双移线工况验证了所提出方法的有效性。结果表明,所提出的底盘协同控制策略能够有效提升车辆的横向稳定性,并减小车身侧倾运动;包含扰动观测的控制策略相比于无扰动观测补偿,对期望横摆角速度和质心侧偏角的跟踪误差分别降低了56.9%和27.3%,而车身侧倾角和侧倾角速度分别降低了8.9%和12.5%。To improve the lateral stability of four-in-wheel-motor-drive vehicles,in this paper a chassis coordinated control strategy that integrates torque coordination and active rear steering is proposed.The strategy aims to track the ideal yaw rate and sideslip angle while effectively reduce the body roll motion.Based on the characteristics of the vertical reaction force generated by the in-wheel motor,the decoupled control for the longitudinal,yaw and roll motions of the vehicles is designed based on torque coordination.To decrease the effect of ignored nonlinearity and uncertainty in modeling lateral dynamics on the control performance,a disturbance observer-based model predictive control for chassis cooperative control is designed to estimate and compensate the nonlinearity and uncertainty.To verify the effectiveness of the proposed method,a hardware-in-the-loop test is conducted for the double lane change maneuver.The results show that the proposed control strategy can improve the lateral stability and reduce the roll motion of the vehicle body.Furthermore,compared to the control without disturbance compensation,the disturbance observer-based control reduces the tracking errors of the desired yaw rate and sideslip angle by 56.9%and 27.3%,and the body roll angle and roll rate by 8.9%and 12.5%,respectively.

关 键 词：轮毂驱动 横向稳定性 后轮转向 扰动观测器 转矩协调 模型预测控制 

分 类 号：U461.6[机械工程—车辆工程] U463.1[交通运输工程—载运工具运用工程]