电动汽车稳定性控制中的车体侧偏角观测器研究

Design of Body Slip Angle Observer for Electric Vehicle Stabilization Control with Driven-motor-in-wheels

采用轮毂电机独立驱动的电动汽车可采用直接横摆力矩控制(Direct Yaw-moment Control,DYC)等稳定性控制,而车体侧偏角(简称β角)是稳定性控制中的重要参数.直接测定车体侧偏角的传感器相当昂贵,所以需要从能够容易测得的参数来进行车体侧偏角的推测.Hori研究室设计了一种用于β角推测的观测器,并充分考虑了车辆运行工况变化所引起的系统模型参数变化,进行了观测器鲁棒性设计以及轮胎侧偏刚度在线辨识,使观测器具备了足够的鲁棒性来克服大的模型误差影响,试验结果证明了该观测器的有效性.

Body slip angle （ β angle） is important for electric vehicle （EV） motion control with driven-motor-inwheels. However, as sensors to measure β are very expensive, we need to estimate β from only variables to be measurable. In this paper, Hori lab propose a novel method for β observation based on yaw rate ）, and side acceleration ay. To make this observer more robust, we design the observer＇s gain matrix for robustness and propose how to identify cornering power at each tire. Experiments performed by UOT March II EV proved the method.