轮毂电机驱动电动车稳定性横摆力矩控制研究

Research on Stability of Yaw Torque Control of Electric Vehicle Driven by Hub Motors

针对轮毂电机驱动电动车的行驶稳定性控制问题,建立二自由度车辆模型、七自由度车辆模型、电机模型和轮胎模型,利用CarSim和Matlab/Simulnk软件搭建联合仿真平台,开展联合仿真研究。将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,并在仿真平台完成了双移线工况的仿真。结果表明,横摆力矩控制算法能有效控制车辆的横摆角速度和质心侧偏角,提高车辆行驶稳定性。

Aiming at the problem of driving stability control of the electric motor driven by hub motors,a two-degree-of-freedom vehicle model,a seven-degree-of-freedom vehicle model,a motor model and a tire model were established.The joint simulation platform was built based on CarSim and Matlab/Simulnk for joint simulation.The yaw torque controller was designed by using the sliding mode algorithm,with the vehicle yaw rate and vehicle slip angle as the control variables.The driving or braking force was applied to a single wheel to generate the yaw torque through the torque distribution algorithm.The simulation test of the double lane change condition was completed on the simulation platform.The results show that the designed control algorithm can control the yaw rate and the vehicle slip angle of the car more accurately,and effectively improve the stability of the vehicle.