分布式电驱动汽车横摆稳定性控制

Yaw stability control of distributed electric vehicle

针对分布式电驱动汽车在转向变道、高速和低附着系数路面等极限工况下容易失去稳定的情况,提出一种分层控制策略.对车辆进行了稳定性分析,判断控制器开启条件.上层控制器采用模糊滑模控制,积分滑模控制得到附加横摆力矩,为了削减积分滑模控制器的抖振,采用模糊控制器进行优化.下层控制器采用基于轮胎负荷率的纵向力分配和基于轴载比例的纵向力分配,并对两种力矩分配进行对比,通过Carsim和MATLAB/Simulink联合仿真,分别在高速高附着系数路面和低速低附着系数路面进行验证.结果表明:提出的稳定控制策略能有效提升车辆的稳定性,且两种力矩分配器都有较好的控制效果,其中基于轴载比例的纵向力分配效果更好.

The hierarchical control strategy was proposed to solve the problem that distributed electric vehicle was easy to lose stability under lane change or extreme conditions with high speed and low adhesion coefficient.The stability of the vehicle was analyzed,and the opening conditions of the controller were judged.In the upper controller,the fuzzy sliding mode control was adopted.The additional yaw moment was obtained by integral sliding mode control.In order to reduce the chattering of integral sliding mode controller,the fuzzy controller was used to optimize.In the lower controller,the longitudinal force distribution types were adopted based on tire load rate and axial load ratio,and the two types of torque distribution were compared.Through Carsim and MATLAB/Simulink co-simulation,the verification tests were carried out on high speed pavement with high adhesion and low speed pavement with low adhesion,respectively.The results show that the proposed stability control strategy can effectively improve the vehicle stability,and both of the two torque distributors have good control effects,while the effect of the longitudinal force distribution based on axle load ratio is better.