轮毂驱动电动汽车差动助力转向控制设计

Design of Differential Drive Assist Steering Controller Based on In-Wheel Motor Drive Electric Vehicle

基于差动助力转向的基本原理及助力特性分析结论,提出一种基于参考转向盘力矩的转向盘力矩直接控制策略,结合抗积分饱和变参数PI(比例-积分)控制算法,开发分布式驱动电动汽车差动助力转向控制器,并进行转向系统参数灵敏度分析和控制系统稳定性分析;设计机械转向系统故障容错策略.Carsim与Simulink联合仿真结果表明:常规工况下,所开发的控制器在保证车辆的操纵稳定性的同时,有效地减小了驾驶员的操纵负担;在机械转向系统故障的换道工况下,所开发的控制器实现了车辆的独立换道,提高了车辆行驶的安全性.

Based on the basic principle and the conclusions made from assist characteristics analysis of differential drive assist steering,a steering wheel torque direct control strategy was proposed.The differential drive assist steering controller was designed based on the combination of the strategy and antiintegral saturation PI control algorithm with variable parameters.The sensitivity of the steering system parameters and the stability of the control system were analyzed.When the mechanical steering system breaks down,a fault tolerant strategy was designed.The combined simulation results by Carsim and Simulink show that the controller proposed can effectively reduce the handling burden of the driver while ensuring the stability of the vehicle.In the case of the failure of the mechanical steering system,the controller can independently help the vehicle to change the driving lane,which improves the vehicle driving safety.