电驱动汽车横摆稳定性自适应积分终端滑模控制  

Adaptive integral terminal sliding mode control for transverse yaw stability of electric vehicles

作　　者：高伟 杨成源 邓召文 GAO Wei;YANG Chengyuan;DENG Zhaoweng(College of Automotive Engineering,Hubei University of Automotive Technology,Shiyan 442002,China;College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Intelligent Connected Vehicle,Hubei University of Automotive Technology,Shiyan 442002,China)

机构地区：[1]湖北汽车工业学院汽车工程学院,湖北十堰442002 [2]南京航空航天大学能源与动力学院,南京210016 [3]湖北汽车工业学院智能网联汽车学院,湖北十堰442002

出　　处：《重庆理工大学学报(自然科学)》2025年第1期55-61,共7页Journal of Chongqing University of Technology:Natural Science

基　　金：湖北省自然科学基金项目(2023AFB985)。

摘　　要：为提高分布式电驱动车辆的横摆稳定性,采用分层控制方法设计了一种基于自适应积分终端滑模控制的直接横摆力矩控制策略。控制策略上层设计了一种自适应积分终端滑模控制器以计算目标附加横摆力矩;控制策略下层以轮胎附着利用率最小为优化目标,采用二次规划控制算法设计了转矩优化分配控制器;通过Matlab-CarSim联合仿真平台对控制策略的有效性进行了对比验证。仿真结果表明:在高附着系数路面下,应用自适应积分终端滑模控制器车辆的质心侧偏角峰值,相较于无控制和积分滑模控制车辆的下降率分别为17.1%和1.7%,横摆角速度峰值下降率分别为13.7%和3.4%;在低附着系数路面下,质心侧偏角峰值相较于无控制和积分滑模控制车辆的下降率分别为69%和39.4%,横摆角速度峰值下降率分别为16%和2.4%,提高了车辆的横摆稳定性与行驶安全性。To improve the yaw stability of a distributed-drive electric vehicle,we design a direct yaw control strategy based on adaptive integral terminal sliding mode control through a hierarchical control approach.The upper level of the control strategy is designed as an adaptive integral terminal sliding-mode controller to compute the target additional cross-swing torque.The lower level of the control strategy,with the optimization objective of minimizing the tire adhesion utilization,is designed by employing a quadratic programming control algorithm to create an optimized torque distribution controller.The effectiveness of the controller is simulated and verified by Matlab-CarSim co-simulation.Our results show under the high adhesion coefficient road surface,the peak center of mass lateral deflection of the vehicle with adaptive integral terminal sliding mode controller decreases by 17.1%and 1.7%,and the peak sway angular velocity is down by 13.7%and 3.4%compared with those of the uncontrolled and integral sliding modecontrolled vehicles.Under low adhesion coefficient road surface,the peak center of mass lateral deflection decreases by 69%and 39.4%and the peak sway angular velocity is down by 16%and 2.4%compared with those of the uncontrolled and integral sliding mode controlled vehicles,improving the electric vehicles’stability and driving safety.

关 键 词：分布式电驱动 横摆稳定性 自适应积分终端滑模 二次规划 

分 类 号：U461.6[机械工程—车辆工程]