分布式驱动电动汽车附着稳定性控制

Research on adhesion stability control of distributed drive electric vehicles

通过分析车轮垂向载荷转移对轮胎附着裕度的影响机理,制定一种直接横摆力矩控制策略以充分发挥车辆极限附着行驶能力。采用分层式控制结构,上层为附加横摆力矩决策层,运用模型预测控制算法求解所需的附加横摆力矩;下层为四轮转矩优化分配层,将上层求得的附加横摆力矩优化分配给各轮,以修正车身姿态。通过Matlab/Simulink与CarSim联合仿真测试和基于dSPACE LabBox驾驶模拟器台架的硬件在环实验,验证转矩分配方案的合理性与控制策略的有效性。实验结果表明:该策略有效改善了各轮附着利用情况,提高了车辆极限行驶能力与附着稳定性。

By analyzing the influence mechanism of vertical load transfer of wheels on tire adhesion margin,this paper develops a direct yaw moment control strategy to give full play to the vehicle ultimate adhesion driving ability.A hierarchical control structure is adopted.The upper layer is the decision-making layer of the additional yaw moment.The model predictive control algorithm is used to solve the required additional yaw moment.The lower layer is the optimal distribution layer of the four-wheel torque,and the additional yaw moment obtained from the upper layer is optimally distributed to each wheel to correct the body attitude.Through the joint simulation test of Matlab/Simulink and CarSim and a hardware-in-the-loop experiment based on a dSPACE LabBox driving simulator bench,the rationality of the torque distribution mode and the effectiveness of the control strategy are verified.The experimental results show that the strategy effectively improves adhesion of each wheel,and improves the vehicle ultimate driving ability and adhesion stability.