摘要
为了提高轮毂驱动电动车辆的操纵稳定性,理论分析了车辆横摆角速度和质心侧偏角对于车辆稳定性的影响.设计了基于滑模变结构控制理论和直接横摆力矩控制的双层控制器.在Carsim中搭建了四轮轮毂电机驱动车辆仿真实验平台,并进行了Carsim/Simulink联合仿真,在标准换道工况下,分别验证了基于质心侧偏角的滑模变结构控制和基于横摆角速度的滑模变结构控制策略的效果,验证了双层车辆稳定性控制策略的有效性和稳定性.
In order to improve handling stability of an in-wheel-drive electric vehicle,influences of the vehicle yaw rate and the sideslip angle on the vehicle stability are analyzed theoretically.A double-layer controller based on sliding mode control theory and direct yaw moment control is designed.A four-wheel-driven vehicle simulation experiment platform built in Carsim and Carsim/Simulink co-simulation is carried out.In standard lane-change condition,the improved effects of sliding mode control strategy based on sideslip angle and the control strategy based on yaw rate are verified and the effectiveness,confirming robustness of the two-layered stability control strategy proposed.
作者
王伟达
张宇航
黄国强
孙晓霞
杨超
马正
Wang Weida;Zhang Yuhang;Huang Guoqiang;Sun Xiaoxia;Yang Chao;Ma Zheng(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Institute of Technology Chongqing Innovation Center,Chongqing 401120,China;China North Vehicle Research Institute,Beijing 100072,China)
出处
《动力学与控制学报》
2021年第3期5-14,共10页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(51575043,U1564210,51705480)。
关键词
轮毂驱动电动车辆
稳定性控制
滑模变结构控制
分层控制架构
直接横摆力矩控制
in-wheel-drive electric vehicle
stability control
sliding mode variable structure control
layered control architecture
direct yaw moment control
