基于分布式驱动汽车的分层式控制系统设计

Research on hierarchical control system based on distributed drive vehicle

目前汽车之所以没有广泛采用轮毂电机驱动车轮,其一是考虑成本,其二是轮毂电机的搭载大大增加了簧下质量,对车辆行驶过程中的操纵稳定性有较大影响。以分布式驱动汽车为研究对象,设计分层式控制系统:上层控制器对车辆总横向运动进行解耦控制,其中纵向采用PID控制跟踪纵向车速,横向设计滑模控制器计算所需方向盘转角;中间层采用模糊控制计算维持车辆行驶稳定性所需附加横摆力矩;底层以轮胎附着利用率为优化目标对力矩进行最优分配。对比仿真试验表明:分层式控制系统可有效降低车辆行驶过程中的横摆角速度16%~48%,质心侧偏角62%~67%,抑制了实际值与理想值之间的偏差,提高了车辆在行驶过程中的安全性和舒适性。

At present,the reason why the car is not widely used to drive the wheel is that the cost is considered,and the second is that the loading of the wheel motor greatly increases the sprung mass,which has a greater impact on the handling stability of the vehicle during the driving process.This paper takes a distributed drive vehicle as the research object and designs a layered control system:the upper controller performs decoupling control on the total lateral movement of the vehicle,in which the longitudinal PID control is used to track the longitudinal speed,and the transverse sliding mode controller is designed to calculate the required steering wheel Angle.In the middle layer,fuzzy control is used to calculate the additional yaw moment required to maintain the vehicle’s running stability.The bottom layer takes the utilization rate of tire adhesion as the optimization objective to optimize the torque distribution.The simulation test shows that the layered control system designed in this paper can effectively reduce the yaw speed of the vehicle during driving by 16%-48%and the side deflection Angle of the center of mass by 62%-67%,which can inhibit the deviation between the actual value and the ideal value,and improve the safety and comfort of the vehicle during driving.