分布式驱动电动汽车鲁棒H_(2)/H_(∞)最优保性能自适应驱动防滑控制  

Robust H_(2)/H_(∞)optimal performance adaptive anti⁃slip control for distributed driving electric vehicle

作　　者：沙文瀚 刘琳 庄伟超 徐利伟 沈童 任彦君 殷国栋[1] SHA Wenhan;LIU Lin;ZHUANG Weichao;XU Liwei;SHEN Tong;REN Yanjun;YIN Guodong(School of Mechanical Engineering,Southeast University,Nanjing 211189,China)

机构地区：[1]东南大学机械工程学院,南京211189

出　　处：《东南大学学报(自然科学版)》2025年第2期566-574,共9页Journal of Southeast University:Natural Science Edition

基　　金：国家自然科学基金资助项目(52025121,52394263).

摘　　要：驱动防滑系统是保障车辆主动安全的重要组件,通过全电控方式实现防滑控制是分布式驱动电动汽车的独特优势。然而在实际的车轮滑转控制中,存在着大量的时变模型参数(车速、侧偏刚度等)和外部噪声(滚阻等),对控制器的鲁棒性提出了巨大的挑战。因此,本文提出了一种适用于分布式驱动电动汽车的鲁棒最优保性能驱动防滑控制算法。充分考虑了纵向刚度摄动以及外部噪声的作用,构建了参数不确定滑移率跟踪模型。同时设计了鲁棒H_(2)/H_(∞)最优保性能滑移率跟踪算法来抑制模型中侧偏刚度不确定的影响,并通过增益调度算法实现了车速对反馈控制律的自适应调度。仿真对比和实车试验证明,所设计的防滑控制算法的鲁棒性与自适应性均满足要求,同时有效地抑制了驱动防滑控制介入时的纵向冲击。The anti-slip control system is a crucial component to ensure the active vehicle safety control,and the realization of anti-slip control through full electronic control is a unique advantage of distributed drive electric vehicle(DDEV).However,in practical wheel slip control,there are numerous time-varying model parameters(such as vehicle speed and cornering stiffness)and external noise(such as rolling resistance),posing significant challenges to the robustness of the controller.Therefore,this paper proposes a robust optimal performance anti-slip control algorithm suitable for DDEV.The perturbations of longitudinal stiffness and the effects of external noise are fully considered,and a slip ratio tracking model with parameter uncertainties is constructed.A robust H_(2)/H_(∞)optimal performance slip ratio tracking algorithm is designed to mitigate the impact of uncertainties in cornering stiffness,and a gain scheduled algorithm is employed to achieve adaptive scheduling of the feedback control law based on vehicle speed.Simulations and real vehicle tests demonstrate that the designed anti-slip control algorithm meets the requirements for robustness and adaptability,while effectively suppressing longitudinal impact during the intervention of the anti-slip control.

关 键 词：分布式驱动电动汽车 驱动防滑控制 鲁棒控制 增益调度 

分 类 号：U461[机械工程—车辆工程]