基于终端滑模控制的电动汽车转向稳定性研究

Research on Stability of Electric Vehicle Based on Terminal Sliding Mode Control

针对电动汽车转向时的稳定性问题,以双轮毂电机电动汽车为研究对象,利用线性二自由度车辆模型得到理想参数,提出了基于横摆角速度的终端滑模横摆力矩控制。同时利用Simulink搭建了整车七自由度的车辆模型,通过低速和高速两种情况来进行算法验证。仿真结果表明,上述算法相对于垂直载荷力矩控制和传统滑模控制而言,能够有效的减少目标参数趋于稳定的时间,抗干扰能力强。力矩分配之后输出力矩作用于轮毂电机,便可以有效的保证车辆运行转向时的安全性和稳定性。

As to the stability on electric vehicle steering,this paper proposes a terminal sliding mode yaw moment control based on yaw angular velocity,which takes the dual in-wheel motors electric vehicle as the research object and obtains ideal parameters using a linear two-degree-of-freedom vehicle model,.Simulink was used to build a seven-degree-of-freedom vehicle model to perform algorithm verification through low speed and high speed.The simulation results show that the proposed algorithm can effectively reduce the time when the target parameters tend to be stable,and the anti-interference ability is stronger than the vertical load torque control and the traditional sliding mode control.After the torque is distributed,the output torque acts on the in-wheel motors,which can effectively ensure the safety and stability of the vehicle when running.