轮毂电机驱动车辆双重转向直接横摆力矩控制

Direct Yaw Moment Control in Dual-steering for In-wheel Motor Drive Vehicle

针对某型8轮轮毂电机驱动车辆,设计一种基于直接横摆力矩控制的双重转向控制方法,建立车辆双轨2自由度动力学模型,研究包含滑移转向工况的车辆参考模型,并对滑移转向比采用基于车速与路面附着条件的模糊调节。为平衡横摆角速度控制与质心侧偏角限制之间的矛盾,在控制模型中,以横摆角速度作为直接控制变量,以质心侧偏角作为约束量,采用滑模变结构控制算法计算期望的横摆力矩,横摆力矩分配过程中采用预分配与驱动防滑控制相结合的分配策略。利用硬件在环实时仿真平台对所提出的双重转向控制算法进行分析验证,仿真结果表明:采用双重转向控制,能有效提高车辆转向的机动灵活性和操纵稳定性,对于提高轮式装甲车辆战场生存能力具有重要意义。

A dual-steering control strategy based on direct yaw moment control for 8 in-wheel motor drive wheel vehicle is designed. A double-track vehicle kinematics model with 2-DOF is established. A vehicle reference model which includes the skid-steering condition is studied. And the skid-steering ratio is adjusted fuzzily based on the vehicle speed and the road adhesion condition. In order to balance the contradiction between the control of yaw rate and the limitation of side-slip angle,the yaw rate is set to be a direct control variable,and the side-slip angle is set to be a constraint variable in this model. The yaw torque is adjusted by sliding mode variable structure control algorithm. The driving torque is optimally distributed through the strategy of combining the predistribution and driving skid-resistance control. The proposed control algorithm for dual-steering established is proved and analyzed by a real-time simulation in hardware-in-loop. The simulated results indicate that the dual-steering control strategy can effectively improve the steering flexibility and operation stability of the in-wheel motor drive vehicle,which is of great significance for improving the battlefield viability of wheeled armored vehicles.