四轮独立驱动电动汽车转向稳定性的横摆力矩控制

The yawing moment control of steering stability for four-wheel-independent-driven electric vehicle

针对四轮独立驱动电动汽车转向稳定性的横摆力矩控制问题,建立了七自由度整车模型和Dugoff轮胎模型.基于滑模控制理论,选择质心侧偏角和横摆角速度两者为联合控制变量,并以汽车车速和路面附着系数为输入,运用模糊控制理论确定联合控制变量的联合控制参数,设计了四轮独立驱动电动汽车转向稳定性的横摆力矩控制策略.在Matlab/Simulink环境下选取不同车速、不同路面附着系数进行了连续转向行驶和突然转向行驶的仿真分析.结果表明,所设计的控制策略能够将质心侧偏角和横摆角速度控制在稳定范围内,使车辆在任意转向行驶工况下保持稳定,最大限度地提高轮毂电动汽车的转向稳定性.

The seven degree of freedom vehicle model and Dugoff tire model were set up based on the yawing moment control of steering stability for four-wheel-independent-driven electric vehicle.Based on the theory of sliding mode control,we chose side-slip angle and yaw angular velocity as the joint control variables,and used the theory of fuzzy control with the vehicle speed and road adhesion coefficient for the input to determine the joint control parameters,and designed the yawing moment control strategy of steering stability for four-wheel-independent-driven electric vehicle.Then we did the simulation analysis of continuous steering driving and sudden steering driving in different vehicle speed and different road adhesion coefficient.The simulation results show that the designed control strategy maintains side-slip angle and yaw angular velocity within the scope of the stability,makes the vehicle remain stable in any condition of steering driving,and maximizes steering stability for electric vehicle driven by hub motors.