四轮独立驱动电动汽车动力学控制系统仿真

Simulation of 4-wheel independent driving electric vehicle dynamics control system

论述了四轮独立驱动系统作为汽车驱动系统的优势及在电动汽车上应用的技术潜力。比较了ICEV动力学控制系统与EV动力学控制系统的区别,提出了四轮独立驱动电动汽车的新动力学控制方法。该方法利用前轮转向角和车速的前馈控制与基于质心侧偏角和横摆角速度的误差反馈控制相结合来控制车辆运动状态,并通过最优控制的方法确定了反馈系数。建立了整车数学模型,并利用MATLAB/Simulink软件生成系统的仿真模型,对所述控制系统进行了仿真研究。结果表明:前馈与反馈相结合的控制系统在各种路面条件下均可明显改善汽车的动力学性能。

The merits of 4-wheel independent driving(4WID) for vehicles and the possibility of implementation of this driving system in electric vehicles(VE) were discussed. The differences of the vehicle dynamics control(VDC) systems between internal combustion engine vehicles and VE were described, and a novel VDC approach to 4WID VE has been brought forward. The approach combines the feedforward compensation for the front wheel steering angle and vehicle speed and the feedback compensation based on the side slip angle and gas rate deflection to control the vehicle movement state. The factors of feedforward and feedback compensation were determined by the optimal control technique. An integrated EV mathematical model was thus built, and a simulation model generated by MATLAB/Simulink software was used to perform a simulation study. Results show the developed VDC system ensure a satisfactory vehicle dynamic performance under different road and driving conditions.