分布式电动汽车驱动力分配控制方法研究

doi:10.19562/j.chinasae.qcgc.2022.07.012

摘要/Abstract

摘要：

针对驱动电机正常和故障工况下分布式电动汽车的操纵稳定性问题，提出了一种结合前轮转向和驱动力重构的驱动力分配控制方法。首先基于横摆角速度与质心侧偏角设计滑模加权控制器，计算所需的附加横摆力矩；再分别建立电机正常和故障工况驱动力优化分配模型。其中，针对故障工况下驱动电机输出能力的限制，通过协同前轮转向来补偿横摆力矩。然后，基于二次规划理论求解最优驱动力分配值。最后利用Carsim和Simulink联合仿真，验证了提出的协调控制方法的有效性。结果表明，该方法可充分利用分布式驱动的冗余特性，确保分布式电动汽车在驱动电机正常与故障工况下均可满足操纵稳定性要求。

关键词: 分布式电动汽车, 驱动力分配, 驱动电机故障, 操纵稳定性

Abstract:

Aiming at the handling and stability problems of distributed electric vehicles under normal and faulty driving motor conditions， a driving force distribution control method combining front wheel steering and driving force reconstruction is proposed. Firstly， a sliding mode weighted controller is designed based on yaw rate and the side slip angle of mass center to calculate the additional yaw moment required； and the optimal distribution model of driving force for the normal and faulty conditions of drive motor is established respectively， in which， the yaw moment is compensated by coordinating the steering of front wheels for limiting the output capacity of drive motor in faulty conditions. Then the optimal driving force distribution value is solved out based on quadratic programming theory. Finally， a Carsim/Simulink joint simulation is conducted to verify the effectiveness of the coordinated control method proposed. The results show that this method can make full use of the redundant characteristics of distributed drives to ensure the distributed electric vehicles can meet the requirements of handling stability under normal and faulty driving motor conditions.

Key words: distributed electric vehicle, driving force distribution, driving motor failure, handling stability

彭晓燕,邢星飞,崔庆佳,黄晶. 分布式电动汽车驱动力分配控制方法研究[J]. 汽车工程, 2022, 44(7): 1059-1068.

Xiaoyan Peng,Xingfei Xing,Qingjia Cui,Jing Huang. Research on Driving Force Distribution Control Method of Distributed Electric Vehicles[J]. Automotive Engineering, 2022, 44(7): 1059-1068.

图/表 18

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表1

车辆主要参数"

参数	数值
整车质量 $m / k g$	1 500
车辆横摆转动惯量 $I z / (k g · m 2)$	1 536.7
质心距前轴的距离 $a / m$	1.015
质心距后轴的距离 $b / m$	1.895
轮距 $c / m$	1.916
前轴侧偏刚度 $k f / (N · r a d - 1)$	83 000
后轴侧偏刚度 $k r / (N · r a d - 1)$	70 000
电机最大输出转矩 $T m a x / (N · m)$	300

表1

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