四轮轮毂电机电动汽车固定横摆角速度增益控制研究

Studied on Fixed Yaw Rate Gain Control Based on Four Wheel In-wheel Motor Electric Vehicle

基于四轮轮毂电机电动汽车,对固定横摆角速度增益控制问题进行了研究。首先在Car Sim中建立线控转向汽车模型,应用Isight软件对固定横摆角速度增益进行优化设计。根据四轮轮毂电机电动汽车四轮驱/制动力矩独立可控的优势,基于模糊PI控制理论设计了附加横摆力矩决策控制器。采用驱/制动力规则分配方法对四轮驱/制动力进行合理分配;并通过Car Sim与Simulink联合仿真,选取中低车速变车速蛇形试验工况和高速双移线工况对控制方法进行了验证。结果表明:控制后汽车能够很好地跟踪期望横摆角速度,减轻驾驶员转向负担,有效地提高了汽车低速转向灵敏性、高速转向操纵稳定性和转向行驶舒适性。

The control problem for fixed yaw rate gain has been studied in the paper based on the four wheel inwheel motor electric vehicle.Firstly,the steer by wire vehicle model was established in the CarSim software and the optimization design of fixed yaw rate gain was finished through Isight software.According to the advantage that four wheel drive / brake torque of the four wheel in-wheel motor electric vehicle can be independently control,the additional yaw moment decision controller was designed based on fuzzy PI control theory.According to the yaw moment decision,the four-wheel driving / braking forces were distributed based on rules distribution method and make the actual yaw rate can tracking the expected yaw rate.The control method is verified by the CarSim and Matlab / Simulink co-simulation experiment.Select the double lane change experiment under high speed and the slalom experiment at low and medium speed as the experiment situation.The experiment results showed that the control method can make the vehicle track the expected yaw rate well and realize the fixed yaw rate gain control.The control method enhanced the steering sensitivity of the vehicle at low speed and the stability at high speed,which can reduce the burden of the driver and improve the steering comfort.