基于控制分配的轮毂电机驱动电动车稳定性控制仿真研究

Stability Control of Four In-Wheel-Motor Drive Electric Vehicle by Control Allocation

根据四轮轮毂电机驱动电动汽车驱动/制动力矩独立可控的特点,采用层次化结构的控制分配方法优化分配驱/制动扭矩来提高车辆的操纵稳定性。控制器由运动控制器和控制分配器组成,其中运动控制器根据车辆状态产生所需总的纵向力和横摆力矩,控制分配器优化分配各轮上的驱/制动扭矩,同时考虑了各种执行器的约束条件。仿真结果表明:采用层次化结构的控制分配方法能充分利用了垂直载荷较大的轮胎摩擦圆,提高车辆的操纵稳定性。

For the drive/brake torque could be controlled independently in a four in-wheel-motor drive electric vehicle, a hierarchical control allocation approach was investigated to improve vehicle handling and stability by optimizing distribution of the drive/brake torque. The controller was composed of a motion controller and an allocation controller The motion controller was designed to determine the generalized longitudinal force and moment required to achieve vehicle motion. The allocation controller was designed to distribute properly the torque on each wheel limited by several constraints. The simulation results show that the hierarchical control allocation controller improves the vehicle stability by taking full advantage of the tire having the biggest vertical load.