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

Abstract

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

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.

Figures/Tables 18

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

References 20

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Research on Driving Force Distribution Control Method of Distributed Electric Vehicles

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