电动轮驱动汽车动力学最优PD控制仿真

Simulation for Optimal PD Control for Dynamics Control of EV with Motorized Wheels

由于电动轮驱动汽车的本身特点使其动力学控制系统大大简化。提出了采用最优PD控制的电动轮驱动汽车动力学控制方法。该方法根据转向角与车速信号由汽车线性动力学模型产生理想汽车横摆角速度与质心侧偏角,通过实时检测汽车横摆角速度与质心偏角并根据其与理想值的差值产生PD反馈控制。PD增益系数采用最优控制方法整定。仿真表明该控制器可在各种行驶路面及工况下实时调整各驱动轮的驱动转矩从而调整汽车运动状态,保持汽车在各种行驶路面尤其是低附着路面上的稳定行驶的能力,使其稳定性与安全性得到明显提高。

The VDC （Vehicle Dynamics Control） of EV （Electric Vehicle） with motorized wheels is simplified for its merit. The optimal PD （Proportional and Differential） Control method for VDC of EV with motorized wheels was brought out. The controller outputs the perfect yaw rate and side slip angle based on the steering angle and vehicle speed by the bicycle model. The feedback compensation is exported based on the side slip angle and yaw rate deflection to control the vehicle movement state. The factors of feedback compensation are determined by the optimal control technique. It is proved by simulation result that the controller may adjust the driving torque of all wheels real-timely to control the vehicle motion and the vehicle with this controller holding the driving stability on all road, especially on the low adhesion road. The vehicle＇s handling stability and safety of EV with motorized wheels are enhanced obviously.