四轮轮毂电机驱动电动汽车纵侧向稳定性协调控制策略研究

Coordination Stability Control Strategy for Four-wheel-independent-actuated Electric Vehicles

结合四轮轮毂电机驱动电动汽车四轮转矩独立可控的特点,针对加速同时转向时地面附着力不足的情况,研究车辆纵向和侧向稳定性协调控制策略。针对未知和复杂多变的路面附着情况,设计对路面附着变化具有良好鲁棒性的滑转率自寻优驱动防滑控制策略,采用滑模控制方法实现了对路面最优滑转率的自适应追踪。在此基础上,构建稳定性协调控制策略,通过对车辆纵、侧向动力学目标进行优先级判断和多目标协调控制,有效提升了车辆纵向和侧向稳定性。通过CarSim-Simulink联合仿真验证了驱动防滑控制策略在未知路面附着情况下的有效性,提出的纵侧向稳定性协调控制策略能够有效提升车辆的纵向和侧向稳定性,控制效果优于直接横摆力矩控制。

A coordination stability control strategy is proposed for four-wheel-independent-actuated electric vehicles in the combined acceleration and cornering maneuver on roads with limited adhesion.An acceleration slip regulation(ASR)strategy robust to unknown road friction conditions is first developed,which can track the optimum wheel slip ratio based on sliding model control(SMC)algorithm.Then,a coordination stability control strategy is proposed to simultaneously enhance vehicle lateral and longitudinal stability.The acceleration intention of the driver,the lateral stability control objective and the wheel slip control constraints are accounted for.Simulation results in CarSim-Simulink verify the effectiveness of the proposed ASR scheme in a diverse variety of road friction conditions,and the vehicle lateral and longitudinal stability can be significantly improved under the proposed coordination stability control scheme,compared to the state-of-the-art direct yaw moment control(DYC).