分布式驱动车辆直接横摆力矩与转向控制

Research on direct yaw moment and steering control of distributed drive vehicles

为了进一步提高车辆在转向行驶过程中的横向稳定性,针对分布式驱动电动汽车,提出了一种在分层集成架构下利用相平面法确定稳定区域控制车辆运动状态稳定的控制策略。由二自由度模型得到的理想侧向速度、理想横摆角速度与实际差值作为上层控制器输入值,上层控制器采用双滑膜控制器结构分别对理想侧向速度和理想横摆角速度进行追踪,分别得到控制量附加转角和附加横摆力矩;下层控制器主要依据相平面法得到的边界值协调控制转向控制和横摆力矩控制的输入输出值,通过最优分配算法将轮胎力和转向角分配到四轮,最终实现对车辆稳定性控制。对控制算法进行仿真验证,证明了所提控制策略的有效性和可行性。

To further improve the lateral stability of vehicles during steering and driving,this paper studies a distributed drive electric vehicle and proposes a control strategy by employing the phase plane method to determine the stable region and control the stability of the vehicle’s motion state under a layered integrated architecture.The ideal lateral velocity and the ideal yaw rate obtained from the two degree of freedom model are used as input values for the upper controller.It adopts a dual sliding film controller structure to track the ideal lateral velocity and ideal yaw rate,and obtains the control values of the added angle and additional yaw moment.The lower level controller mainly coordinates the input and output values of steering control and yaw torque control based on the boundary values obtained by the phase plane method,then allocates the tire force and steering angle to the four wheels through the optimal allocation algorithm,and ultimately achieves the vehicle stability control.Our simulation of the control algorithm verifies the effectiveness and feasibility of the proposed control strategy.