基于DYC-TCS的电动轮轿车在低附着路面起步性能

Performance of Starting up on Low Adhesion Road of DYC-TCS-based Electric Wheel Vehicles

针对汽车在左右两侧车轮附着系数明显不同的情况下,直线加速行驶时,易出现摆尾等失控现象,根据电动轮式四轮驱动汽车驱动力矩独立可控的特点,提出基于PID控制算法,结合DYC-TCS控制策略,控制内、外侧车轮的驱动力矩,实现整车操纵稳定性最优.在Adams/View中建立了四轮驱动汽车的模型,与Simulink进行了联合仿真.结果表明:汽车在左右两侧车轮附着系数明显不同的情况下,进行直线加速试验时,采用DYC-TCS控制策略,明显优于传统的无DYC-TCS控制策略的方案,也优于仅有TCS控制的方案.采用DYC-TCS策略后,最大横摆角速度仅为传统的无DYC-TCS控制策略方案的4%,最大侧向位移仅为5%.

With significantly different friction coefficients in the left and right wheels, the vehicle will be prone to wagging the tail when accelerating in straight-line. According to characteristics that the driving torque of four-wheel driving vehicle with electric wheels can be controlled independently, the driving torque control algorithm of inside and outside wheels was proposed based on PID control algorithm and direct yaw control and traction control system （DYC-TCS）. The optimal performance of the vehicle handling and stability can be obtained. A four-wheel driving model was built with software Adams/View, and was co-simulated with Simulink. Results show that during the straight-line acceleration tests with significantly different friction coefficients in the left and right wheels, the use of DYC-TCS control strategy is superior to traditional non-DYC-TCS control strategy, and better than that of the only TCS program. With the DYC-TCS, the maximum yaw-rate is 4% of the traditional non-DYC-TCS, and the maximum lateral displacement is only 5%.