复杂工况下轮毂电机驱动电动汽车操纵稳定性控制

Control of Handling and Stability of Electric Vehicle Driven by In-wheel Motors Under Complex Conditions

四轮轮毂电机驱动电动汽车各轮的转矩可以独立控制,通过合理的控制四个车轮的转矩,可以对车辆施加一个附加的横摆力矩,解决其在高速行驶、紧急避障、急转弯等复杂工况下操纵稳定性下降的问题。本文首先采用比例积分控制方法,设计车辆横摆稳定控制器,然后基于模糊控制策略,根据车辆行驶参数的变化,自动进行横摆稳定控制器参数整定。利用Carsim和Simulink联合仿真,在双移线工况下仿真分析,结果表明所设计的横摆稳定控制策略能使车辆在复杂工况下具备良好的操纵稳定性,相较无控制器情况,横摆角速度相对误差减少了58.31%。

The torque of each wheel of the electric vehicle driven by four in-wheel motors can be controlled independently.By controlling the torque of the four wheels reasonably,an additional yaw moment can be applied to the vehicle to improve the vehicle handling stability in high-speed driving,emergency obstacle avoidance,sharp turn and other complex conditions.Firstly,a vehicle yaw stability controller is designed based on the proportional-integral method.Then,the parameters of controller are given based on the fuzzy method,according to the vehicle parameters.By simulation with CarSim and Matlab,and the simulation results show that the control strategy can improve vehicle handling stability under the complex conditions.Under the standard double-lane change maneuver,the relative error of yaw rate is 58.31%less than that without controller.