变速极限工况下分布式电动汽车稳定性纵横协调控制研究
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重庆大学,机械与运载工程学院

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国家自然科学基金项目(面上项目,重点项目,重大项目),重庆市研究生科研创新项目。


Research on longitudinal and lateral coordinated stability control of distributed electric vehicles under variable speed limit conditions
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Chongqing University, College of Mechanical and Vehicle Engineering

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National Natural Science Foundation of China, Graduate Research and Innovation Foundation of Chongqing, China 。

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    摘要:

    针对传统定速控制方法在山区极限工况下适应性不足的问题,本文提出一种基于车辆纵横向耦合特性的变速协同控制策略。该策略采用分层架构:上层通过稳态评估模型为决策提供动态基准;中层结合双级模型预测控制协调四轮滑移率、主动前轮转向与直接横摆力矩,解决纵横向控制冲突并输出总/驱动/横摆力矩;下层基于加权最小二乘法实现转矩的动态优化分配。最后,通过Simulink与CarSim仿真平台对所设计的纵横协调控制策略搭建了仿真模型,并模拟多种复杂道路工况进行验证,证明了该控制策略能够显著提升分布式电动汽车在变速极限工况下的行驶稳定性。

    Abstract:

    To address the inadequacy of traditional constant-speed control methods in adapting to extreme mountainous conditions, this paper proposes a variable-speed coordinated longitudinal-lateral control strategy based on the coupling characteristics of vehicle dynamics. The strategy adopts a hierarchical control structure: the upper layer designs a steady-state evaluation model to provide an accurate decision-making basis for the middle and lower layer controls; the middle layer primarily utilizes a two-level Model Predictive Control to coordinate potential conflicts between longitudinal four-wheel slip rates, lateral Active Front Steering and Direct Yaw Control, and outputs the total driving torque and yaw moment; the lower layer employs Weighted Least Squares to optimally distribute the obtained torque according to the vehicle's operating state. Finally, a simulation model of the designed coordinated control strategy was established based on the Simulink and CarSim simulation platforms, and various complex road conditions were simulated for verification. The results demonstrate that this control strategy can significantly improve the driving stability of distributed electric vehicles under variable-speed extreme conditions.

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  • 收稿日期:2024-11-04
  • 最后修改日期:2025-05-17
  • 录用日期:2025-05-19
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