|
| 一种分布式驱动电动汽车转向稳定性双层控制系统 |
| A Bi-level Stability Control System for the Distributed Motor Driven Electric Vehicles |
| 投稿时间：2020-01-02 修订日期：2020-04-13 |
| DOI： |
| 中文关键词: 分布式电机驱动 电动汽车 转向稳定性 模型预测控制 横摆力矩 |
| 英文关键词: Distributed drive Electric vehicle Steering stability Model predictive control Yaw moment |
| 基金项目: |
|
| 摘要点击次数: 479 |
| 全文下载次数: 0 |
| 中文摘要: |
| 针对传统分布式电机驱动电动汽车（DDEV）转向稳定性只考虑横摆角速度和质心侧偏角的不足，本文考虑前后轮侧偏角与转向过程中车身姿态的关系，提出一种基于模型预测控制器的DDEV转向稳定性控制系统。所提出的控制系统由上层控制器和下层控制器两个主要部分组成。上层控制器综合分析前后轮侧偏角、横摆角速度和质心侧偏角四个变量与车身姿态的关系，计算转向稳定性所需的主动前轮转向角和横摆力矩的期望值，采用基于拉盖尔函数的模型预测控制器实现，提高控制器实时性。下层控制器根据上层控制器输出的主动前轮转向角做出决策选择驱/制动车轮，并将横摆力矩转化成车辆可以实际控制的驱/制动力矩，提高DDEV转向稳定性。实验结果验证了所提方法的有效性。 |
| 英文摘要: |
| Steering stability is a hot topic in the stability study of distributed drive electric vehicles (DDEV). The conventional steering stability researches only consider the yaw rate and the sideslip angle. Based on that, this paper further analyzes the relationship between the wheel sideslip angle and the body posture, and a novel model predictive controller-based DDEV steering stability control system is proposed. The proposed control system consists of two main parts, including the upper controller and the lower controller. The upper controller analyzes the relationship between the four variables of front wheel sideslip angle, rear sideslip angle, yaw rate, sideslip angle and vehicle body posture. A Raguel function-based model predictive controller is adopted to calculate the desired front wheel steering angle and yaw moment required for the steering stability. The lower controller is execution unit, the drive/brake wheel is selected according to the active front wheel steering angle, and the yaw moment is converted into the driving/braking torque. Then the driving/braking torque is applied to the corresponding wheel to improve steering stability of DDEV. Finally, the simulation under the Matlab/Simulink is implemented. |
|
View Fulltext
查看/发表评论 下载PDF阅读器 |
| 关闭 |
