基于多参数控制的分布式驱动电动汽车操纵稳定性控制策略研究

Research on Handling Stability Control Strategy for Distributed Drive Electric Vehicle Based on Multi-parameter Control

为改善高速低附着路面上的车辆动力学性能,本文针对分布式驱动电动汽车提出一种基于多参数控制的操纵稳定性控制策略,包括上层轨迹跟踪控制和下层转矩分配控制。上层控制器设计基于2自由度车辆模型和驾驶员预瞄偏差模型,提出了MPC轨迹跟踪控制策略,实现对侧向偏差、横摆角偏差、质心侧偏角、横摆角速度的多参数控制。下层控制器以轮胎负荷率最小为优化目标,获得4个车轮电机转矩的最优分配量,借助于7自由度动力学模型,在双移线、蛇行工况下完成了CarSim-Simulink联合仿真。结果表明:提出的控制策略改善了高速、低附着工况下的操纵稳定性和轨迹跟踪精度。

In order to enhance the vehicle dynamics performance under high speed and low adhesion road conditions,a multi-parameter-control-based handling stability control strategy for distributed drive electric vehicle(DDEV)is proposed in this paper,which incorporates both an upper trajectory tracking controller and a lower torque distribution controller.In the upper controller,a model predictive control(MPC)trajectory tracking controller based on the 2-DOF reference model of DDEV and driver preview error model is developed,enabling multi-parameter control of lateral displacement deviation,yaw angle deviation,sideslip angle,and yaw rate.The lower controller is responsible for optimal torque allocation for the four-wheel motors,taking minimizing tire load rate as the optimization target.Based on the 7-DOF dynamics model,experimental verification is conducted on the CarSim-Simulink joint simulation platform under double line change and snake shape conditions.The results show that the proposed control strategy effectively improves the handling stability performance and trajectory tracking accuracy of DDEVs under high speed and low adhesion road conditions.