双电机独立驱动方程式赛车横摆力矩控制策略

Direct yaw moment control strategy for two-motor distributed driving electric formula racing car

为提高电动方程式赛车的操纵稳定性,文章提出一种后置双电机独立驱动方程式赛车直接横摆力矩双层控制策略。上层为直接横摆力矩控制器,分别设计基于横摆角速度的模糊控制器、基于质心侧偏角的模糊控制器和联合模糊控制器;下层为驱动力分配控制器,依据电机特性平均分配直接横摆力矩。基于CarSim与Simulink仿真环境,选取双移线工况进行联合仿真验证控制策略的效果;设计硬件在环试验平台,验证直接横摆力矩控制策略。试验结果表明:横摆力矩控制策略能有效保障车辆的操纵稳定性;低速时,可以实现助力转向;高速时,质心侧偏角控制在2.5°以内,实现稳定性控制。

In order to improve the handling stability of electric formula racing car,a double-layer control strategy of direct yaw moment for rear two-motor distributed driving electric formula racing car is proposed.The upper layer is direct yaw moment controller,including the fuzzy controllers based on the yaw rate and the sideslip angle,as well as the joint fuzzy controller.The lower layer is driving force distribution controller,which evenly distributes the direct yaw moment based on the characteristics of the motor.Based on CarSim and Simulink simulation environment,the double lane change is selected to verify the vehicle yaw stability.The hardware-in-the-loop(HIL)experimental platform is designed to verify the proposed control strategy.The results show that the yaw moment control strategy can effectively guarantee the steering stability of the vehicle.At low speeds,power steering can be achieved,and at high speeds,the sideslip angle can be controlled within 2.5°to achieve stability control.