轮毂电机驱动电动汽车4WS和DYC协调控制

doi:10.19562/j.chinasae.qcgc.2024.10.005

Abstract

Abstract:

In order to improve the path tracking ability and handling stability of in wheel motor driven electric vehicles， a novel coordination control strategy for active four-wheel steering （4WS） and direct yaw moment control （DYC） is proposed. Firstly， considering the path tracking performance and handling stability of vehicles， a shared steering model is established and on this basis， the 4WS control strategy based on non-cooperative Nash game theory is proposed. Secondly， in order to improve the lateral stability of the vehicle under extreme conditions， the vehicle state is divided into stable， transitional， and unstable regions based on the phase plane of the center of mass sideslip angle， and the DYC controller is established in each region. Then， in order to achieve coordinated control of rear wheel steering and direct yaw moment， the coordination controller based on fuzzy neural network is established between ARS and DYC. Finally， the CarSim/Simulink co-simulation platform and Hardware-in-the Loop （HIL） platform are used to conduct experimental verification under dual line shifting conditions. The research results show that the proposed control strategy can effectively improve the path tracking precision and handling stability of the vehicle under extreme driving conditions.

Key words: automotive engineering, in wheel motor driven electric vehicle, four-wheel steering, direct yaw moment control, coordination control

Haichuan Zhang,Shu Wang,Xuan Zhao,Chenyu Zhou,Cangyan Guo,Meng Zhou. Coordination Control of 4WS and DYC for in Wheel Motor Driven Electric Vehicle[J].Automotive Engineering, 2024, 46(10): 1766-1779.

Figures/Tables 18

符号	定义	数值
$m$	整备质量	833 kg
$a$	质心到前轴距离	1.1 m
$b$	质心到后轴距离	1.25 m
$T m a x$	峰值转矩	170 N·m
$P m a x$	峰值功率	90 kW
$T s$	采样时间	0.01 s
$ξ e d$	横向位移权重系数	10
$ξ e ψ$	航向角权重系数	10
$ξ Δ β$	质心侧偏角权重系数	10
$ξ Δ w$	横摆角速度权重系数	10
$r 11 r 12$	前轮转角权重系数	100（0）
$r 21 r 22$	后轮转角权重系数	0（25）

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Coordination Control of 4WS and DYC for in Wheel Motor Driven Electric Vehicle

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