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国际标准刊号:ISSN 1000-582X
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轮毂电机驱动电动汽车横摆稳定性控制
李以农, 胡一明, 邹桃
重庆大学 汽车工程学院, 重庆 400044
摘要:
为了提高轮毂电机驱动电动汽车行驶稳定性,设计了基于直接横摆力矩控制的车辆稳定性控制系统;针对滑模控制存在固有抖振的问题,建立基于模糊滑模控制理论的稳定性控制器;针对车辆质心侧偏角难以测量,建立了结构简单、计算快速的非线性滑模观测器;考虑到转矩分配的实际约束条件和分配器的响应速度,建立了等比例转矩分配器,分配各车轮上的驱动/制动扭矩。最后基于MATLAB/Simulink与Carsim联合仿真平台进行了仿真分析,结果表明该控制器能很好改善车辆的操纵稳定性,并且控制输出更加平顺。
关键词:  电动汽车  模糊滑模控制  滑模观测  直接横摆力矩  转矩分配
DOI:10.11835/j.issn.1000-582X.2017.12.004
分类号:U461
基金项目:国家自然科学基金资助项目(51275541);科技部重点研究计划子课题资助项目(2016YFB0100904-3)。
Yaw stability control of wheel-drive electric vehicle
LI Yinong, HU Yiming, ZOU Tao
School of Automotive Engineering, Chongqing University, Chongqing 400044, P. R. China
Abstract:
A stability control system based on direct yaw moment control is proposed to improve the stability of wheel-drive electric vehicles. For the chattering problem of sliding mode controller, a stability controller based on fuzzy sliding mode control is established first. And then, as the sideslip angle is difficult to measure, a nonlinear sliding mode observer with simple structure and fast calculation is designed. Considering the online simulation time and practical constraints, an equal proportion allocation controller is proposed to distribute the driving/braking torque on each wheel. At last the performance of the designed integrated controller is demonstrated through the co-simulation of MATLAB/Simulink and Carsim. The result reveals that the controller can improve the stability of vehicle effectively with smoother control output.
Key words:  electric vehicle  fuzzy sliding mode control  sliding mode observer  direct yaw moment control  torque distribution
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