分布式驱动智能汽车转向稳定性控制策略研究

Research on Steering Stability Control Strategy of Distributed Drive Intelligent Vehicle

当前对分布式驱动智能汽车转向稳定性的研究多基于车辆动力学模型,而针对驱动电机对汽车转向造成的影响的研究较少,忽略电机的影响容易使汽车出现侧滑、过度转向或不足转向等问题。基于此,本文分析了电机运行特性与车辆转向的关系,提出了分布式驱动智能汽车转向分类的思想,对转向稳定的情况实行转速控制策略,对转向不稳定的情况实行转速辅以转矩控制策略,并基于MATLAB/Simulink软件进行仿真分析。研究结果表明,转向分类控制在提高车辆操控性基础上实现了车辆的稳定转向,保证了车辆状态能紧随驾驶员的意图。

For the present study on steering stability of intelligent vehicle are more based on vehicle dynamics model, while ignoring the impact of the motor on the vehicle steering stability, that is easy to cause some instability problems such as sideslip、oversteering and understeering. Based on this, this paper analysed the relationship between motor operation characteristics and vehicle steering, put forward the idea of distributed driving intelligent vehicle steering classification, implemented speed control strategy for steering stability, and implemented speed control strategy with torque control strategy for steering instability, and carried out simulation analysis based on MATLAB/Simulink software. The results showed that the steering classification control achieved stable steering on the basis of improving vehicle maneuverability, and ensured that the vehicle state can follow the driver's intention.