基于直接横摆力矩控制的FSAE纯电动赛车操纵稳定性控制策略

Control strategy of handling stability for FSAE pure electric racing car based on direct yaw moment control

针对双电机驱动FSAE纯电动赛车操纵稳定性控制问题,提出了基于直接横摆力矩控制的操纵稳定性控制策略。采用扩展卡尔曼滤波对实际质心侧偏角进行估计,分别设计了基于PID控制、基于模糊逻辑控制以及基于PID模糊逻辑联合控制的附加横摆力矩控制器;并在方向盘转角阶跃工况以及双移线工况下,基于Matlab/Simulink平台进行了仿真对比。利用A&D5435半实物仿真平台和Matlab/Simulink代码自动生成技术,搭建了FSAE纯电动赛车硬件在环试验平台,并进行了双移线工况的实车试验验证。结果表明:文中提出的PID模糊逻辑联合控制策略相比于无控制和PID控制横摆角速度的稳态值和极值最多分别减小12. 17%和43. 87%,质心侧偏角的稳态和值极值最多分别减小8. 4%和68. 53%,并且收敛速度变快,提高了车辆的操纵稳定性。

Aiming at the stability control problem of distributed drive FSAE pure electric vehicles,direct yaw moment control strategy of handing stability is studied.Based on the extended Kalman filter method,the side slip angle is estimated.The PID controller,the fuzzy logic controller,the PID and fuzzy logic joint controller of the additional yaw moment are designed respectively;and under the steering wheel step input angle operating condition and the double-shift line operating condition,based on the MATLAB/Simulink platform,the designed control strategies of handling stability are simulated and compared.Using A&D5435hardware-in-the-loop simulation platform and Matlab/Simulink simulation code auto-generation technology,the hardware-in-the-loop test platform of FSAE pure electric racing car was built,and the real vehicle test verification of double-shift line conditions was carried out.The results show that compared with no control and PID control alone,the proposed PID and fuzzy logic joint control strategy can significantly reduce the steady state value and the extreme value of the side slip angle by12.17%and43.87%at most respectively and those of the yaw rate by8.4%and68.53%at most respectively,and the convergence rates of the two both become faster,so the handling stability of the vehicle is improved.