基于纵向力分配的轮边驱动电动汽车稳定性控制

Research on Vehicle Stability Control of 4WD Electric Vehicle Based on Longitudinal Force Control Allocation

采用层次化整车稳定性控制方法和加权二乘法优化分配算法,通过纵向力在约束范围内的合理分配形成直接横摆力矩,改善车辆的行驶姿态.实车试验结果显示,控制器根据各轮状态实现了四轮纵向力有效分配,车辆横摆角速度能够很好地跟踪参考横摆角速度;通过控制,降低了车辆横摆角速度与侧向加速度,提高了车辆的操纵稳定性.

A vehicle stability control based on hierarchical control approach was introduced.Through the Weighted Least-Squares （WLS） control allocation algorithm,the longitudinal force of each tire （motor torque） was distributed considering the constraints to form the direct yaw moment.The experiment results show the respective longitudinal force of the four wheels has been effectively distributed according to the status of each wheel.And also the vehicle’s yaw rate can follow the reference yaw rate excellently.The vehicle’s yaw rate and lateral acceleration have been reduced,meanwhile,the vehicle handling and stability have been enhanced instead.