电动轮汽车横向稳定性协同控制

Synergetic Control for Lateral Stability of Electric-Wheel Vehicle

针对传统滑模控制出现抖振的问题,提出一种电动轮汽车横向稳定性协同控制方法。首先构造关于横摆角速度和质心侧偏角的宏变量;然后根据系统重要的性能指标设计相应的流形,同时计算使系统从任意初始状态衰减至流形时所需的横摆力矩,并通过Lyapunov定理证明了稳定性;最后按四轮附着率相等的原则分配了附加横摆力矩。搭建Carsim和Simulink联合仿真平台,在双移线和方向盘角正弦这两种典型工况下的仿真结果表明:所提方法能够实现系统的无抖振协同控制,与传统滑模控制相比提高了车辆的横向稳定性。

It puts forward a synergetic control method of electric-wheel vehicle*s lateral stability,which aims at the problem that chattering occurs in traditional sliding mode control.Firstly,the macro variables of yaw rate and center-of-mass lateral angle are constructed;then the corresponding manifold is designed according to the important performance indexes of the system,and at the same tune the yaw moment required to decay the systemfrom any initial state to the manifold is calculated,and the stability is proved through Lyapunov theorem;finally,the additional yaw moment is distributed according to the principle that the four-wheel adhesion rate is equal.The joint simulation platform of Carsim and Simulink was built,and the simulation results under the two typical working conditions of double lane change and steering wheel angle sine show that the proposed method can achieve the system's chattering-free synergetic control,which improves the lateral stability of the vehicle compared with the traditional sliding mode control.