基于状态参数的两驱电动摩托车稳定性控制研究  

Stability Control Study of Two-wheel Drive Electric Motorcycle Based on State Parameter Estimation

作　　者：陈宝[1,2] 秦智明 李鑫龙 王一泽 CHEN Bao;QIN Zhiming;LI Xinlong;Wang Yize(Key Laboratory of Advanced Manufacturing Technology for Automobile Parts,Ministry of Education,Chongqing University of Technology,Chongqing 400054,China;School of Vehicle Engineering,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学汽车零部件先进制造技术教育部重点实验室,重庆400054 [2]重庆理工大学车辆工程学院,重庆400054

出　　处：《自动化与仪表》2025年第4期16-22,共7页Automation & Instrumentation

摘　　要：针对轮毂电机驱动摩托车在动力性和行驶稳定性方面存在的问题,提出了一种路面附着系数估计与驱动防滑功能相结合的综合控制策略。首先,建立了两驱摩托车五自由度动力学模型,为准确地识别路面附着系数,设计了基于无轨迹卡尔曼滤波的路面识别器,并结合模糊PID设计前、后轮驱动防滑控制器。通过调节前后轮电机输出转矩,使滑转率趋近于理想滑转率,实现驱动防滑功能。该策略不仅能迅速准确地识别路面附着系数,改善轮胎滑转现象,还能提升两驱电动摩托车的动力性和行驶稳定性。A comprehensive control strategy combining state parameter estimation and drive anti-skid function is proposed for two-wheel-drive electric motorcycles in terms of power and driving stability.First,a five-degree-of-freedom dynamic model of a two-wheel-drive motorcycle was developed.In order to accurately recognize the road surface adhesion coefficient,a trackless Kalman filter-based road surface recognizer is designed,and a fuzzy PID is combined to design front and rear wheel drive anti-skid controllers.By adjusting the motor output torque,the slip rate tends to the ideal slip rate,realizing the drive anti-slip function.The strategy not only can quickly and accurately identify the road adhesion coefficient and ideal slip rate to improve the tire slip phenomenon,but also can enhance the dynamics and driving stability of two-wheel drive electric motorcycles.

关 键 词：两驱电动摩托车 路面识别 理想滑转率 模糊PID 驱动防滑控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]