军用多轮分布式电动车辆驱动力协调控制

Coordinated Drive Force Control of the Military Electric Vehicle with Multi-Wheel

设计了一种军用多轮电动车辆的行驶控制稳定性与机动性的调控制器。控制器分为3个模块:驾驶意图解释模块控制双模转向程度,兼顾对车辆的稳定性控制与机动性控制;横摆控制模块计算出整车横摆力矩给定;转矩分配模块结合车辆状态、路面状态,分配驱动力矩至各驱动轮,实现车辆控制。在ADAMS与Simulink联合仿真环境下进行了典型工况对控制器有效性的验证。

In the control of military multi-wheel electric vehicles,there are stability control and maneuverability control,and a kind of coordinating controller is designed to deal with both of them.The controller is composed of three parts.The analysis module for driving intent which is to give consideration to both the stability and the maneuverability by control the level of dual-steering.The yaw control module calculates the yaw moment of the vehicle.The torque distribution module distributes the driving torque to each driving wheel according to the road condition of the vehicle.Finally,the effectiveness of the control strategy is verified in the joint simulation environment of ADAMS and Simulink.