四轮独立驱动电动车自适应巡航滑模控制

Adaptive Cruise Sliding Mode Control of Four-Wheel Independent Drive Electric Vehicles

为实现四轮独立驱动电动汽车的自适应巡航功能,采用基于趋近律的滑模控制理论设计了自适应巡航控制系统。上位控制器以实际车距与期望车距的偏差作为输入,采用滑模控制律获得主车期望加速度,然后将期望加速度作为下位控制器的输入,计算出电机期望转矩,用于实现自适应巡航控制。在CarSim中建立电动汽车整车模型,并与Simulink进行联合仿真。仿真结果表明,在前车匀速、加速、减速等直线行驶工况以及曲率较大的弯道行驶工况下,提出的自适应巡航控制方法均能够使主车具有良好的跟踪能力。

For a four-wheel-independent-drive electric vehicle,an adaptive cruise control system was designed by using the reaching-law-based sliding mode robust control theory.The upper controller took the error between the actual distance and the expected distance as input,and the desired acceleration of the vehicle was obtained according to the sliding mode control law.The lower controller calculated the expected torque output of the motor based on the expected acceleration.A co-simulation of Carsim/Simulink was established for the vehicle.Simulation results show that the adaptive cruise control method proposed in this paper can provide the host vehicle with good tracking ability under driving conditions of going straight at a uniform speed,at a speed with acceleration or deceleration,and under conditions of turning with large curvature.