基于二阶滑模算法的双电机后驱车辆差速系统设计

Design of Dual Motor Rear Drive Vehicle Differential System based on Second Order Sliding Mode Algorithm

为提高双电机后驱车辆的侧向稳定性、解决传统一阶滑模控制在车辆稳定性控制中出现的抖振问题,本研究设计了基于二阶滑模算法的双电机后驱车辆差速系统并进行了仿真。首先,建立了车辆2自由度线性模型和7自由度整车模型。在模型基础上,设计了一个两层控制器。其中,上层控制器用以求得总的修正力矩,下层控制器对总力矩进行分配。在上层控制器中,基于滑模控制理论建立了二阶滑模控制器。在下层控制器中,设计了一种利用车轮垂向载荷分配修正力矩的分配方法。最后,利用计算机软件Carsim和Simulink进行联合仿真测试。结果表明,设计的差速系统可以明显提升双电机电子差速车辆的侧向稳定性,并能有效抑制滑模算法的抖振。

In order to improve the lateral stability of the dual motor rear drive vehicle and solve the chattering problem of the first order sliding mode control motor torque,the driving wheel torque distribution strategy was designed based on the second order sliding mode algorithm.First,a 2-DOF linear model and a 7-DOF vehicle model are established.Based on the model,a two layer controller is designed.Among them,the upper layer controller is used to obtain the total correction torque,and the lower layer controller assigns the total torque.In the upper layer controller,the second order sliding mode controller is established based on the sliding mode control theory.In the lower layer controller,a distribution method for correcting torque is designed by using wheel vertical load distribution.Finally,the computer simulation software Carsim and Simulink are used for the union simulation test.The results show that the proposed driving torque distribution strategy can significantly improve the lateral stability of the dual motor electronic differential vehicle and effectively suppress the chattering of the sliding mode algorithm.