低附着路面条件下四轮独立驱动转向电动车稳定性控制研究

Research on the Stability Control of Four-Wheel Independent Driving Steering Electric Vehicles under Low Friction Coefficient Road

针对四轮独立驱动转向车辆在低附着路面的稳定性问题,提出了一种协调稳定性控制器。首先,基于模糊理论设计了主动后轮转向(active rear wheel steering,ARS)控制器,实现减小质心侧偏角的效果;然后,基于等效滑模变结构设计了直接横摆力矩控制(direct yaw moment control,DYC)控制器,以控制横摆角速度为目标;最后,基于Carsim/Simulink仿真平台搭建稳定性算法模型,进行了低附着系数双移线工况仿真对比。结果表明,所提出ARS和DYC协调控制算法能有效改善车辆在低附着路面上的行驶稳定性。

Aiming at the stability problem of four-wheel independent drive steering vehicle on low adhesion road surface,a coordinated stability controller is proposed.Firstly,the active rear wheel steering(ARS)controller is designed based on the fuzzy theory to achieve the effect of reducing the side deflection Angle of the center of mass.Then,the direct yaw moment control(DYC)controller is designed based on the equivalent sliding mode variable structure to control the yaw Angle speed.Finally,the stability algorithm model was built based on the Carsim/Simulink simulation platform,and the simulation and comparison of the low adhesion coefficient double-shift working conditions were carried out.The results show that the proposed ARS and DYC coordination control algorithm can effectively improve the driving stability of the vehicle on the low adhesion road surface.