分布式驱动电动汽车横摆稳定性控制研究

Research on Yaw Stability Control of Distributed Drive Electric Vehicles

根据分布式驱动电动汽车电机转矩可独立控制、轮胎纵向力可灵活分配的特点,通过控制轮胎纵向力产生附加横摆力矩的方法提高车辆的横摆稳定性。设计了分层控制器对车辆横摆稳定性进行研究,上层控制器利用滑模控制方法计算保持车辆稳定的附加横摆力矩;下层控制器分别利用液压差动制动分配方法与平均分配方法分配附加横摆力矩。基于Matlab/Smulink与CarSim仿真环境,选取双移线路面进行车辆横摆稳定性仿真。研究结果表明:施加控制器作用后,可使车辆横摆角速度较好地跟随理想值并将质心侧偏角控制在2. 5°以内,车辆具有较好的轨迹保持能力与行驶稳定性。两种力矩分配方法均能得到较好的控制效果,其中平均分配方法控制效果更优。

According to the characteristics that the torque of the distributed drive electric vehicle motor can be controlled independently and the longitudinal force of the tire is distributed flexibly,yaw stability of the vehicle can be improved by controlling the longitudinal force of the tire to generate additional yaw moment. The lateral stability controller is designed by using the layered control structure to study the vehicle yaw stability. The upper controller uses the sliding mode control to calculate the additional yaw moment, the lower controller uses the hydraulic differential brake distribution and the average distribution to allocate additional yaw torque respectively. Based on Matlab/Smulink and CarSim simulation environment,the double line change condition is selected to verify the vehicle yaw stability. The results show that the vehicle yaw rate follow the ideal value well and the side slip angle can be controlled within 2. 5° when the controller is applied. The vehicle has better path tracking ability and yaw stability at the same time. Both torque distribution methods can achieve better control effect,and the average distribution performance is even better.