分布式电动车制/驱动力协调行驶稳定性控制

Stability control of distributed drive electric vehicles based on traction and brake force coordination control

针对分布式电驱动车辆在转向极限工况失稳时通过驱动力协调提供横摆力矩有限及常规基于差分制动的稳定性系统控制精度不高的问题,提出了基于模型预测控制的4轮制/驱动力协调控制策略。该文依据模型预测控制系统结构,搭建了面向预测控制的车辆动力学模型;以改善车辆行驶稳定性、极限工况下的通过性为目标,设计代价函数,构建了多输入多输出系统预测控制律;利用经典的二次规划方法进行滚动时域求解。仿真实验结果表明:制/驱动协调可提供更大的横摆力矩、更快的横摆响应;基于模型预测控制的效果优于常规制动力反馈控制,可以进一步提高车辆横向稳定性。

For four-wheel-independent-drive electric vehicles,limited yaw moment can be generated by traction coordination and inaccurate torque control exists in the traditional electronic stability control system.A brake and traction force coordination control method is developed to alleviate this problem using model predictive control.The vehicle stability at the limiting conditions is improved by a cost function and a multi-input multi-output predictive control law.The quadratic programming method is used to solve the receding horizon problem.Simulations show that the system achieves quicker yaw response than the normal feedback control method,so the vehicle lateral stability is improved.