纯电动汽车车身稳定控制器多目标优化研究

Multi objective optimization of stability controller for electric vehicle

针对纯电动汽车稳定性和制动能量回收问题,对车辆制动能量回收系统以及车身稳定性能做了研究。提出了采用带精英策略的非支配排序遗传算法对车身稳定控制器进行了多目标优化,建立了车辆二自由度模型,得出了理想质心侧偏角和理想横摆角速度,再利用传感器得到了实际质心侧偏角;分析了制动时的各个约束条件,包括ECE制动法规约束、制动舒适性约束以及电机扭矩约束,并以车身稳定性和制动能量回收效率为优化目标,得出了不同路况下、不同转向输入角下的最优解;利用Car Sim和Matlab/SIMULINK建立了虚拟仿真平台,将得到的最优解代入到了仿真中。仿真结果表明:优化后的制动力不但使该车型的制动稳定性得到了提高,而且制动能量回收效率也得到了提升。

Aiming at the problem of stability and braking energy recovery of pure electric vehicle,the braking energy recovery system and the stability of car body were studied. A multi-objective optimization of regenerative braking vehicle stability controller with the genetic algorithm was proposed to solve the problem. The ideal centroid of side-slip angle and ideal side-slip angle were obtained by establishing the two degree of freedom model,and then the actual centroid side-slip angle can be estimated by the observer. The restraint conditions of the brake program were analyzed,including ECE braking regulation constraints,braking comfort constraints,motor torque constraints and than body stability and braking energy recovery efficiency were chosen as optimized target,the optimal steering angle were gotten under various road conditions.Then Car Sim and Matlab/SIMULINK software were used to build virtual simulation platform. The optimal date was substituted into the simulation,and the results indicate that the optimized braking force not only improves the braking stability of the car,but also improves the braking energy recovery efficiency.