分布式电驱动车辆纵-横-垂向力协同控制

Collaborative Control of Longitudinal/Lateral/Vertical Tire Forces for Distributed Electric Vehicles

针对现有研究多采用经验工况划分、主动悬架力简单分配等轮胎力解耦控制方法,难以实现车辆性能最优化的问题,提出了分层式轮胎纵-横-垂向力协同优化控制系统,在制定上层行驶期望目标和下层执行控制策略的同时,重点研究了中层轮胎纵-横-垂向力优化分配。建立了融合轮胎负荷率和垂向力动态系数的统一优化目标函数,综合考虑了车辆行驶期望目标、轮胎附着极限和执行器特性等约束条件,最终解决了轮胎纵、横、垂向力的协同优化控制难题。基于Matlab/Simulink和CarSim的联合仿真结果表明,提出的分层协同控制系统能同时有效控制车辆行驶姿态和改善车辆操纵稳定性能。

In view of that the most of existing researches adopting tire force decoupling control method, including the empirical partition of working conditions and the simple distribution of active suspension forces, are difficult to achieve the optimization of vehicle performances, a hierarchical collaborative optimization control system for longitudinal, lateral and vertical tire forces is proposed. While in working out the expected driving objective in up- per layer and actuating control strategy in lower layer, the collaborative allocation for longitudinal, lateral and vertical tire forces in middle layer is emphatically investigated. Then a universal optimization objective function combining both tire loading ratios and dynamic vertical force coefficient is developed, with the constraint conditions including the expected driving objective of vehicle, the adhesion limit of tires and the characteristics of actuator concur- rently considered. Finally the difficult issue of collaborative optimization control for longitudinal, lateral and vertical tire forces is resolved. The results of co-simulation with Matlab/Simulink and CarSim show that the layered collaborative optimization control system proposed can concurrently control the driving attitude effectively and improve the handling stability of vehicle.