极限工况下分布式驱动电动方程式赛车稳定性控制研究  

Stability control of distributed drive electric formula race carsunder extreme working conditions

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作  者:李刚[1] 刘泊居 王爽 LI Gang;LIU Boju;WANG Shuang(Automobile and Traffic Engineering College,Liaoning University of Technology,Jinzhou 121001,China)

机构地区:[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出  处:《重庆理工大学学报(自然科学)》2025年第1期38-46,共9页Journal of Chongqing University of Technology:Natural Science

基  金:辽宁省自然科学基金一般项目(2022-MS-376);自然科学基金联合基金项目(U22A2043)。

摘  要:为提高分布式驱动电动方程式赛车的行驶稳定性,提出了一种横摆稳定性控制策略。控制策略采用分层控制结构,基于积分滑模理论设计上层力矩分配器,通过引入积分项来消除滑模自动抖振现象,分别建立七自由度整车模型和二自由度参考模型,来计算赛车的期望横摆角速度、期望质心侧偏角以及附加横摆力矩;下层为转矩分配器,根据轮胎滑移率对4个车轮的驱动转矩进行最优分配,提高赛车在行驶时的稳定性。选取典型工况进行仿真实验验证,结果表明:分布式驱动电动方程式赛车在加入所设计的横摆稳定性控制器后,行驶稳定性得到了明显提升。The four-motor distributed-drive electric formula car is prone to instability problems in high-speed cornering or driving on low adhesion coefficient road surfaces.We propose a cross-swing stability control strategy to improve the driving stability of the distributed-drive electric formula car.The control strategy adopts a hierarchical control structure.The upper torque distributor is designed based on the integral sliding mode theory,eliminating the sliding mode automatic vibration by introducing an integral term.A seven-degree-of-freedom vehicle model and a two-degree-of-freedom reference model are built to compute the desired swing angular velocity,the desired center-of-mass lateral deflection angle and the additional swing torque of the car.The lower torque distributor is designed to optimally distribute the driving torques of the four wheels based on the slip rate of the tires so as to improve the car’s driving stability.The lower layer is the torque distributor,which optimally distributes the driving torque of the four wheels according to the tire slip rate to improve the car’s driving stability.Typical working conditions are selected for simulation experiments.Our results show the driving stability of the distributed-drive electric formula car is significantly improved after our pendulum stability controller is introduced.

关 键 词:分布式驱动 行驶稳定性 积分滑模理论 最优分配 

分 类 号:U469[机械工程—车辆工程]

 

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