摘要
选取具有独特性能和优势的电动车作为研究对象,采用轮毂电机加上液压系统进行动力输出,设计稳定性控制器对车辆的横摆稳定性进行控制。通过分层结构的控制器对横摆力矩进行控制,利用电液协调系统调节,增强其横摆稳定性。经研究,设计的基于滑模控制横摆稳定控制器以及电液协调系统对车辆横向稳定性有很大提升。从仿真结果来看,对于质心侧偏角和横摆角速度控制效果很好,车辆抗失稳能力有很大提升,证明了电液协调系统和滑模控制的可靠性。通过NI硬件在环系统对所设计控制器进行验证,证明了其有效性和实时性。
The electric vehicle with its unique performance and advantages is selected as the research object.The hub motor and hydraulic system are adopted for power output,and the stability controller is designed to control the vehicle’s yaw stability.The yaw moment is controlled by the layered structure controller,and the yaw stability is enhanced by the electrohydraulic coordination system.Based on the research,the design of the sliding mode control yaw stability controller and the electrohydraulic coordination system can greatly improve the lateral stability of vehicles.The simulation results show that the control effect of the center of mass and yaw velocity is very good,and the anti-instability capability of the vehicle is greatly improved,which proves the reliability of the electrohydraulic coordination system and sliding mode control.The NI hardware in the loop system is used to verify the designed controller,which proves its effectiveness and real-time performance.
作者
欧健
吴鹏飞
丁凌志
杨鄂川
肖皓鑫
OU Jian;WU Pengfei;DING Lingzhi;YANG Echuan;XIAO Haoxin(College of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China)
出处
《重庆理工大学学报（自然科学）》
北大核心
2021年第9期58-65,共8页
Journal of Chongqing University of Technology：Natural Science
基金
重庆市科委项目(cstc2019jcy j-msxmX0204)。
关键词
横摆稳定性
优化控制
滑模
转矩分配
yaw stability
optimization control
sliding mode
torque distribution
