轮毂电机驱动汽车区域极点配置横向稳定性控制*

doi:10.19562/j.chinasae.qcgc.2019.08.008

汽车工程 ›› 2019, Vol. 41 ›› Issue (8): 905-914.doi: 10.19562/j.chinasae.qcgc.2019.08.008

轮毂电机驱动汽车区域极点配置横向稳定性控制^*

黄彩霞^1,2, 雷飞¹, 胡林³, 张志勇³

1.湖南大学,汽车车身先进设计制造国家重点实验室,长沙 410082;
2.湖南涉外经济学院机械工程学院,长沙 410205;
3.长沙理工大学汽车与机械工程学院,长沙 410114

收稿日期:2018-08-07 出版日期:2019-08-25 发布日期:2019-09-03
通讯作者: 张志勇,副教授,博士,E-mail:zzy@163.com
基金资助:
国家自然科学基金(51675057)和湖南省教育厅科研项目(15B008,16C0906)

Lateral Stability Control Based on Regional Pole Placementof In-wheel-motored Electric Vehicle

Huang Caixia^1,2, Lei Fei¹, Hu Lin³, Zhang Zhiyong³

1.Hunan University, State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Changsha 410082;
2.College of Mechanical Engineering, Hunan International Economics University, Changsha 410205;
3.College of Automobile and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114

Received:2018-08-07 Online:2019-08-25 Published:2019-09-03

摘要/Abstract

摘要： 分布式驱动结构给车辆动力学控制带来机遇和挑战,如何可靠地实现其横向稳定性控制是关键技术。考虑车辆参数的不确定性,提出了基于区域极点配置的轮毂电机驱动汽车横向稳定性控制策略,分析了保性能权重矩阵参数对控制性能的影响;为了能最大限度地利用路面附着能力,利用轮毂电机驱动力和制动力共同产生横摆力矩,并结合驱动模型切换提出了规则化转矩分配控制策略;通过数值仿真和硬件在环仿真开展了控制系统的性能分析。结果表明,所提出的基于区域极点配置的上层控制策略不仅能改善汽车的操纵稳定性,而且对轮胎侧偏刚度等参数不确定性具有较强的鲁棒性;同时,下层规则化转矩分配控制策略能确保在低附着路面可靠实现转矩分配。

关键词: 电动汽车, 轮毂电机, 横向稳定性, 区域极点配置, 参数不确定性

Abstract: For the opportunities and challenges brought by the distributed drive structure on vehicle dynamics control, how to reliably realize lateral stability control is the key technology. Considering the uncertainty of vehicle parameters, a lateral stability control strategy of an in-wheel-motored electric vehicle based on the regional pole placement is proposed, and the influence of guaranteed weight parameters on control performance is analyzed. In order to make maximum use of the adhesion ability of the road, the yaw moment is generated by the driving forces and braking forces of the in-wheel-motors together and a rule-based torque allocation control strategy is proposed combined with the switch of the driving model. The performance analysis the control system is carried out by numerical simulation and hardware-in-loop simulation. The results show that the proposed upper strategy based on regional pole placement can not only improve vehicle handling stability, but also has strong robustness to the parameter uncertainties such as tire lateral stiffness. At the same time, the lower level strategy can reliably allocate wheel torques on low attachment road

Key words: electric vehicle, in-wheel-motor, lateral stability, regional pole placement, parameter uncertainty

黄彩霞, 雷飞, 胡林, 张志勇. 轮毂电机驱动汽车区域极点配置横向稳定性控制^*[J]. 汽车工程, 2019, 41(8): 905-914.

Huang Caixia, Lei Fei, Hu Lin, Zhang Zhiyong. Lateral Stability Control Based on Regional Pole Placementof In-wheel-motored Electric Vehicle[J]. Automotive Engineering, 2019, 41(8): 905-914.

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轮毂电机驱动汽车区域极点配置横向稳定性控制^*

Lateral Stability Control Based on Regional Pole Placementof In-wheel-motored Electric Vehicle

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