分布式驱动电动汽车的近似最优转矩矢量控制*

doi:10.19562/j.chinasae.qcgc.2018.011.009

Abstract

Abstract: In view of the nonlinearity of distributed drive electric vehicle system, a vehicle lateral stability control system based on optimal torque vectoring control is proposed. Firstly magic formula tire model is used to estimate tire forces in real time, and a nonlinear vehicle model with varying tire lateral stiffness is built. Then by using as a reference the optimal control concept of approximate linear quadratic regulator (LQR), a yaw torque control method with adjustable gain is designed based on the lateral acceleration of mass center, and the torque vectoring allocation is performed according to the constraints of motor peak torque and tire friction cycle. Finally both CarSim / LabVIEW co-simulation and hardware-in-the-loop experiment are carried out. The results show that the control system proposed can effectively fulfill the real-time control on vehicle and significantly improve its stability without greatly deteriorating its longitudinal performance

Key words: lateral stability, tire magic formula, optimal control, torque vectoring control, HIL experiment

Xie Weidong, Xu Wei, Fu Zhijun, Li Bin. Approximate Optimal Torque Vectoring Control for Distributed Drive Electric Vehicles[J]., 2018, 40(11): 1308-1316.

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Approximate Optimal Torque Vectoring Control for Distributed Drive Electric Vehicles

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