基于激光测距技术的轮毂电机驱动电动汽车操纵稳定性控制方法

Control method for handling stability of electric vehicle driven by wheel motor based on laser ranging technology

电动汽车内传感器的测量精度较差,为提高汽车行车稳定性,基于激光测距技术的轮毂电机驱动电动汽车操纵稳定性控制方法。建立电动汽车动力学模型,在车轮动力模型中,对四个轮胎分别建立驱动力平衡方程。设计了一种轮毂电机驱动下的汽车稳定性控制方法,分别设置车身与车轮稳定性的目标函数与约束条件。实验结果显示,上层控制器中,汽车dβ-β相平面均在0~0.1 rad的标准范围之内且横摆角速度也基本与目标值相符;在下层控制器中,汽车dβ-β相平面均在-0.5 rad~0.5 rad的标准范围之内且横摆角速度基本与目标值相符,可见本方法对该汽车稳定性控制方法有效。

The measurement accuracy of the sensor in the electric vehicle is poor.In order to improve the stability of the automobile driving,the stability control method of the electric vehicle operation driven by the hub motor is based on the laser ranging technology.The dynamic model of electric vehicle is established.In the wheel power model,the driving force balance equation is established for the four tires.In this paper,a vehicle stability control method driven by the hub motor is designed,setting the objective function and constraint conditions of the body and wheel stability re-spectively.The experimental results show that in the upper layer controller,the vehicle dβ-βphase plane is all with-in the standard range of 0-0.1rad,and the yaw angular velocity is basically consistent with the target value;in In the lower controller,the vehicle dβ-βphase plane is all within the standard range of-0.5-0.5 rad,and the pendulum angular speed is basically consistent with the target value,which shows that the method used in this paper is effective for the vehicle stability control method.