考虑转向意图的分布式电驱动汽车横摆稳定性控制

Distributed electric drive vehicle yaw stability control considering steering intention

为提高分布式驱动电动汽车极限工况下的操纵稳定性,提出考虑驾驶员转向意图的四轮力矩矢量控制(TVC)策略。该控制策略利用方向盘转角识别驾驶员转向意图,并根据经验驾驶员操作特性调节车辆稳定性因数,建立含转向意图的横摆角速度期望模型。控制器采取分层式模型跟踪控制方式,上层运动控制器采用模型预测控制,决策附加横摆力矩,下层控制分配器通过二次规划的最优分配,得到四轮转矩作为控制量保持车辆对目标的跟随。最后基于CarSim&Simulink联合仿真平台,在双移线工况下对控制策略进行仿真验证。结果表明:考虑驾驶员转向意图的TVC策略可有效减小驾驶员极限工况下的操作负荷,进一步提高车辆操纵稳定性。

In order to improve the handling stability of distributed drive electric vehicles under extreme conditions, this paper proposes a four-wheel torque vector control(TVC) strategy that considers the driver’s steering intention. The control strategy recognizes the driver’s steering intention through the steering wheel angle, and adjusts the vehicle stability factor according to the empirical driver’s operating characteristics, and then obtains the desired yaw rate model with steering intention. The controller adopts a hierarchical model tracking control structure, the upper motion controller adopts the model predictive control(MPC) method to decide the additional yaw moment, and the lower control distributor obtains the four-wheel torque as the control quantity to keep the vehicle following the target based on the optimal allocation method of quadratic programming(QP). Finally, based on the CarSim & Simulink joint simulation platform, the control strategy is simulated and verified under the double-line shifting condition. The analysis results show that the TVC strategy considering the driver’s steering intention can effectively reduce the driver’s operating load under extreme conditions, and at the same time can further improve the vehicle’s handling stability.