分布式驱动电动方程式赛车扭矩分配策略

Torque distribution strategy for a distributed driving electric formula racing car

为提高分布式驱动电动方程式赛车在高速转弯时的操纵稳定性,提出一种基于模糊神经网络(fuzzy neural network,FNN)算法的驱动扭矩分配策略.采用车辆二自由度模型设计质心侧偏角由观测器获取实际质心侧偏角;以横摆角速度和质心侧偏角为控制变量,采用模糊神经网络算法设计扭矩分配控制器来控制车辆行驶状态;运用Matlab/Simulink和Carsim仿真软件建立车身稳定性控制系统的联合仿真模型,并对蛇形绕桩与双移线工况进行仿真分析和实车测试.试验结果验证了所提扭矩控制策略的可行性和有效性.

To improve the handling stability of the distributed driving electric racing car in case of high speed turning,a creative strategy of driving torque distribution based on the fuzzy neural network algorithm is proposed.Firstly,according to the two-freedom model,a sideslip observer is designed to obtain the actual sideslip angle.Secondly,the yaw rate and sideslip angle are applied as control variables,and a torque distribution controller is suggested to control the driving state of vehicle on basis of the fuzzy neural network algorithm.Through Matlab/Simulink and CarSim software,the joint simulation model of the vehicle body stability control system is established,and computer-aided simulation and real on-road tests on the condition of snake driving and double-line moving for the racing car are carried out and analyzed.The experimental results verify the feasibility and effectiveness of the proposed torque control strategy.