分布式驱动电动汽车爆胎工况下稳定性控制研究  

Study of stability control of distributed drive electric vehicles under tire blowout conditions

作　　者：庞文亚 贝绍轶[1] 李波[1,2] 殷国栋[3] PANG Wenya;BEI Shaoyi;LI Bo;YIN Guodong(School of Automotive and Traffic Engineering,Jiangsu University of Technology,Changzhou 213001,China;Suzhou Automotive Research Institute,Tsinghua University,Suzhou 215200,China;School of Mechanical Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]江苏理工学院汽车与交通工程学院,江苏常州213001 [2]清华大学苏州汽车研究院,江苏苏州215200 [3]东南大学机械工程学院,南京210096

出　　处：《重庆理工大学学报（自然科学）》2024年第11期72-80,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(52172367,51705220);江苏省高校自然科学基金重大项目(21KJA580001);常州市国际科技合作基金项目(cz20220031)。

摘　　要：根据智能车辆爆胎后失去稳定性,行驶轨迹发生偏离等特性,提出一种内外环联合控制策略。外环采用纯追踪算法设计主动纠偏控制,模拟驾驶员视线,以预瞄点和当下车辆的实际位置计算,得到使车体回归到规定路径上的目标点,输出车辆的前轮转角。内环采用分层控制结构,以模糊PID控制理论为核心设计上层控制器,由实际质心侧偏角、实际横摆角速度与期望值的差值,计算出附加横摆力矩;下层采用白鲸优化算法对附加横摆力矩进行转矩分配系数的优化,从而实现爆胎后控制器规划方向盘转角以及优化分配车轮转矩。最后建立CarSim与Matlab/Simulink联合仿真平台进行实验。结果表明:直行爆胎工况下,质心侧偏角是未施加控制的10.61%,相较于直接横摆力矩控制改善了8.87%。弯道工况下,横摆角速度,侧向位移以及侧向加速度的波动程度同样更小,更快地稳定和收敛。此策略显著提高了分布式驱动电动汽车爆胎工况下的行驶稳定性。We propose a joint inner and outer loop control strategy to address the loss of stability and deviation of the driving trajectory of intelligent vehicles after a tire blowout.The algorithm is calculated with the look-ahead point and the actual position of the vehicle to determine the target point that brings the vehicle back to the intended path and outputs the front wheel angle.The inner loop control adopts a hierarchical structure,and the upper controller is designed with fuzzy control theory as the core.The controller calculates the additional yaw moment based on the difference between the actual center-of-mass lateral deflection angle and the yaw rate and the desired value.The lower layer controller then optimizes the torque distribution coefficients for the additional yaw moment using the Whale Optimization Algorithm to optimally distribute the wheel torque.We build a joint simulation platform of CarSim and Matlab/Simulink for experiments.Our results show the lateral declination angle of the centroid under straight travel is 10.61%of the uncontrolled,8.87%lower than that of the direct yaw moment control.At curves,the yaw angular velocity,lateral displacement,and lateral acceleration all experience less fluctuations,faster stabilization and convergence.Our strategy markedly improves the driving stability of distributed drive electric vehicles under tire blowout conditions.

关 键 词：分布式驱动 UniTire轮胎爆胎模型 主动纠偏 转矩优化 

分 类 号：U463.341[机械工程—车辆工程]