摘要
为进一步改善四轮驱动电传动车辆的动力学特性,设计了基于直接横摆力矩控制的电传动车辆动力学控制系统.首先,以改进2自由度车辆模型为基础制定出用于保证车辆稳定性的动力学控制目标;之后,采用"前馈+反馈"控制结构,设计了结合动态滑模和最优调节的电传动车辆直接横摆力矩控制器,并按照不影响纵向行驶性能的原则,以轴载估计为比例分配各独立电驱动车轮的电机驱动转矩.研究表明:该四轮驱动电传动车辆动力学控制系统能够加快车辆系统响应速度,并有效抑制车辆运动进入不稳定状态的趋势,所得整车直接横摆力矩光滑平稳,并对路面附着变化和系统不确定参数具有良好的鲁棒性.
A dynamics control system for 4WD EV based on DYC was proposed to improve 4WD EV dynamics characteristic. The EV dynamics control target for stability was designed with the improved 2DOF vehicle model. With the ＂feedforward ＋ feedback＂ control structure, the DYC system for 4WD EV is designed by combining DSMC （ dynamical sliding mode control） method and LQ method. The motor traction torques was distributed according to the axle-load proportion without influence on the EV longitudinal performance. This 4WD EV dynamics system can quicken the yaw response and restrain the trend EV becoming unstable, which shows good adaptability with system parameters uncertainties.
出处
《车辆与动力技术》
2009年第1期1-6,17,共7页
Vehicle & Power Technology
关键词
电传动车辆
自动控制技术
直接横摆力矩控制
动态滑模
electric driving vehicle
automatic control technology
direct yaw moment control
dynamic sliding mode control
