8×8分布式电驱动装甲车辆稳定性直接横摆力矩与转矩矢量控制

Direct Yaw Moment and Torque Vector Control for Stability of 8×8 Distributed Electric Drive Armored Vehicles

为提高车辆的行驶稳定性,发挥轮毂电机驱动的优势,提出一种8×8分布式电驱动轮式装甲车辆直接横摆力矩与转矩矢量控制方法。建立车辆的线性二自由度模型,求得期望横摆角速度和质心侧偏角。设计一种分层控制器:上层控制器为协调横摆角速度和质心侧偏角,采用滑模控制对两个变量的控制输出分别进行计算,并设计加权函数,得到横摆力矩输出;下层控制器将8个车轮按轴分为4组矢量,根据横摆力矩和纵向力需求,按照转矩矢量合成的方法得到各轮转矩。实时仿真实验结果表明,该控制方法能合理分配车轮转矩,有效控制横摆角速度,提高车辆的行驶稳定性。

A direct yaw and torque vector control method for 8×8 distributed electric drive armored vehicles is proposed to improve the vehicle's driving stability and take advantage of the hub motor drive.A linear 2-DOF model of vehicle is established to calculate the desired yaw rate and the sideslip angle.A hierarchical controller is designed based on this model.The upper controller is to coordinate the yaw rate and the sideslip angle.The control outputs of the two variables are calculated by using sliding mode control,and the weight function is designed to obtain the yaw torque output.The lower controller divides the eight wheels into four groups according to the axis.Then the torque of each wheel can be obtained according to the yaw moment and longitudinal force by the torque vector synthesis.The real-time simulated results show that the proposed control method can distribute the wheel torque reasonably,control the yaw rate effectively,and improve the vehicle's driving stability.