基于模糊理论的4WID电动轮汽车横向稳定性控制研究

发布时间：2019-06-25 09:27

【摘要】：为充分利用四轮独立驱动(4WID)电动轮汽车各轮驱动电机转矩独立可控及调节迅速的特点,对其横向稳定性控制问题进行研究。以车辆动力学理论为基础,基于动态仿真平台Matlab/Simulink建立包含"魔术公式"轮胎模型以及电机控制模型在内的九自由度整车闭环动力学系统。利用分层思想,上层运用模糊控制理论,分别设计以车身横摆角速度和质心侧偏角为控制变量的模糊控制器,并采用"当质心侧偏角较小时以理想横摆角速度跟踪控制为主,当质心侧偏角较大时以抑制质心侧偏角过大为主"的耦合协调控制策略产生所需附加主动横摆力矩。根据附加横摆力矩的大小,在下层分配设定一个阈值判断模块,通过判定选取效率车轮"差值驱动"及"差值驱动+差动制动相结合"的四轮驱动/制动协同分配模式来产生附加横摆力矩的方法对汽车失稳状态进行主动干预,最后在汽车典型的试验工况下进行稳定性控制的仿真测试。结果表明:采用的控制系统能够将质心侧偏角控制在稳定范围内,并能够很好地跟踪汽车的期望横摆角速度,提高电动轮汽车极限行驶工况下的横向稳定性。
[Abstract]:In order to make full use of the characteristics of independent torque control and rapid adjustment of each wheel drive motor of four-wheel independent drive (4WID) electric wheel vehicle, the lateral stability control of each wheel drive motor is studied. Based on the theory of vehicle dynamics and based on the dynamic simulation platform Matlab/Simulink, a closed-loop dynamics system of a nine-degree-of-freedom vehicle, including the "magic formula" tire model and the motor control model, is established. Based on the idea of layering and fuzzy control theory, the fuzzy controllers with the yaw angular velocity and the centroid side deflection angle as the control variables are designed respectively, and the coupling coordinated control strategy of "ideal yaw angular velocity tracking control when the centroid side deflection angle is small and suppression of the cententric lateral deflection angle is the main" is used to produce the required additional active yaw moment. According to the size of the additional yaw moment, a threshold judgment module is set up in the lower layer. By selecting the four-wheel drive / braking cooperative distribution mode of "difference drive" and "differential braking" of the efficiency wheel, the additional yaw torque is actively interfered with. Finally, the stability control simulation test is carried out under the typical test conditions of the vehicle. The results show that the control system can control the centroid side deflection angle in the stable range, and can track the expected yaw angle speed of the vehicle well, and improve the transverse stability of the electric wheel vehicle under the limit driving condition.
【作者单位】：西华大学汽车与交通学院;汽车测控与安全四川省重点实验室;湖南大学汽车车身先进设计制造国家重点实验室;
【基金】：教育部春晖计划资助项目(Z2013024) 四川省新能源汽车电控技术创新支撑项目(15203559) 四川省科技厅重点资助项目(2011J00043) 西华大学研究生创新基金项目(ycjj2015034)
【分类号】：U469.72

【相似文献】