8轮分布式电驱动车辆AFS和DYC协同控制

doi:10.19562/j.chinasae.qcgc.2023.03.008

Abstract

Abstract:

In order to improve the overall dynamic control performance of 8-wheel distributed electric drive vehicle， a coordinated control method of active front-wheel steering system （AFS） and direct yaw moment system （DYC） is proposed. Firstly， the expected yaw velocity and centroid sideslip angle considering vertical load transfer and roll stability are obtained based on the vehicle model. Secondly， a method of phase plane region division method combining the two-line method and yaw method is proposed to divide vehicle states into stable region， critical stable region and unstable region. Then， the controller including the decision-making layer， coordination control layer and torque distribution layer is designed. In the decision-making layer， the improved sliding mode function is used to design additional yaw moment sliding mode controller and additional angle sliding mode controller. In the coordination control layer， three control strategies are designed according to the phase plane region of the vehicle state. In the torque distribution layer， each wheel torque is distributed according to the proportion of the vertical load of each axis. Finally， based on MATLAB/Simulink and Trucksim co-simulation platform， the double-shift tracking experiment is verified. The results show that the proposed control method has good trajectory keeping accuracy and vehicle status correction ability， and can effectively improve the driving stability of the vehicle.

Key words: distributed electric drive, 8-wheel vehicle, AFS, DYC, coordinated control

Zixian Li,Shiju Pan,Youchun Xu. Coordinated Control of AFS and DYC for 8-wheel Distributed Electric Drive Vehicle[J].Automotive Engineering, 2023, 45(3): 409-420.

Figures/Tables 12

路面附着系数	$B 1$	$B 2$
$0.8 ≤ μ ≤ 1.0$	0.357	0.097 8
$0.6 ≤ μ < 0.8$	0.332	0.081 6
$0.4 ≤ μ < 0.6$	0.303	0.074 2
$0.2 ≤ μ < 0.4$	0.287	0.058 7
$?????????????? μ < 0.2$	0.275	0.045 2

References 16

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参数	数值
总质量/kg	4 500
轮距/m	2.15
轮胎半径/m	0.41
峰值转矩/（N·m）	800
绕z轴转动惯量/（kg·m²）	5 935

Coordinated Control of AFS and DYC for 8-wheel Distributed Electric Drive Vehicle

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