分布式驱动电动车行驶稳定性控制建模与仿真

MODELING AND SIMULATION OF DISTRIBUTED DRIVE ELECTRIC VEHICLES DRIVING STABILITY CONTROL

针对分布式驱动电动车的行驶稳定性控制问题,利用CarSim和MATLAB/Simulnk软件建立模型并搭建联合仿真平台。设计稳定性控制算法,包括横摆力矩控制、转矩协调控制和驱动防滑控制。以车辆横摆角速度和质心侧偏角作为控制变量,运用滑模变结构控制方法,设计横摆力矩控制器。通过转矩分配算法,对单个车轮施加驱动或制动力,产生稳定横摆力矩,并建立模糊控制器对车轮滑转率进行控制。在仿真平台完成了双移线工况的仿真,结果表明,该算法能提高车辆行驶稳定性。

For the driving stability control problem of distributed drive electric vehicles,CarSim and MATLAB/Simulnk were used to build models and establish a joint simulation platform.We designed stability control algorithms,including yaw moment control,torque coordination control and acceleration slip regulation control.The vehicle yaw rate and the vehicle slip angle were used as control variables,and the yaw moment controller was designed by using the sliding mode variable structure control method.Through the torque distribution algorithm,a driving or braking force was applied to each wheel to generate a stable yaw moment.And a fuzzy controller was established to control the wheel slip rate.The simulation of the double lane change condition was completed on the simulation platform.The results show that the stability control algorithm can improve the driving stability of the vehicle.