轮毂电机驱动汽车直接横摆力矩控制研究

Research on Direct Yaw Torque Control of In-wheel Motor Drive Electric Vehicle

根据横摆角速度和质心侧偏角与汽车操纵稳定性之间的关系,以质心侧偏角和横摆角速度为控制目标进行车辆操纵稳定性控制,搭建了整车七自由度模型,通过二自由度模型获取轮毂电机驱动汽车横摆角速度和质心侧偏角的参考值;在此基础上,设计了一种轮毂电机驱动汽车直接横摆力矩控制策略,应用模糊控制方法构建了横摆力矩模糊控制器,得出为保证车辆稳定所需的附加横摆力矩,以轮胎利用率最小为优化目标,进行转矩优化分配,最后通过仿真验证了所提出的控制策略的有效性.

relationship between the sideslip angle of mass centervehicle maneuvering stability control is carried out with the centroid side and yaw as the control targets. The seven degrees of freedom model of the vehicle is built.The stabilized values of the sideslip angle of mass center and yaw rate are obtained based on 2 DOF linear vehicle model. On this basis,a control strategy for direct yaw moment of electric vehicles with wheel motor drive proposedhe fuzzy controller of yaw moment is designed additional yaw moment. The torque distribution method based on the tire utilization was designed.In the end, imulation verifies the effectiveness of the proposed yaw torque control strategy.