基于临界转角的分布式电驱动车辆AFS+DYC协同控制

doi:10.19562/j.chinasae.qcgc.2025.11.016

Abstract

Abstract:

In order to improve the maneuvering stability of distributed electric drive vehicles under extreme operating conditions， a cooperative control system of active front wheel steering （AFS） and direct yaw moment control （DYC） based on the critical turning angle divided regions is designed in this paper. Firstly， a method of determining the tire state region based on the critical angle threshold is proposed， and the tire state region is divided into linear region， transition region and saturation region. Then on this basis， the AFS and DYC controller is respectively established， and the adaptive cooperative control of the two controllers is realized based on the “linear distance coefficient”. Then， the torque of each wheel is assigned according to the phase plane region of the vehicle state. Finally， based on the joint simulation platform of MATLAB/Simulink and CarSim， experimental validation is carried out under serpentine and double-shift conditions. The results show that the critical angle determination method can accurately identify the tire state region， solve the problem of difficult direct measurement of the tire state in the real vehicle， and significantly improve the applicability of the controller in the unknown tire parameters or complex working conditions. The collaborative control system designed on the basis of this system can effectively make up for the shortcomings of a single controller， significantly improve the stability of the vehicle's handling， and has certain engineering application value.

Key words: distributed electric drive vehicles, active front-wheel steering, direct yaw moment control, coordinated control

Xu Xia,Guoquan Ren,Zhongjie Zhang,Ruixuan Wang,Shiju Pan,Zixian Li. Coordinated Control of AFS and DYC for Distributed Electric Drive Vehicles Based on Critical Turning Angle[J].Automotive Engineering, 2025, 47(11): 2224-2237.

Figures/Tables 19

References 16

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μ	u
μ	NB	NS	ZO	PS	PB
NB	PS	PM	PB	PB	PB
NM	PS	PM	PM	PB	PB
NS	Z0	PS	PM	PM	PB
ZO	NS	ZO	PS	PS	PM
PS	NM	NS	ZO	PS	PM
PM	NB	NM	NS	ZO	PS
PB	NB	NB	NM	NS	ZO

参数	数值	单位
整车质量	1 270	kg
轮距	1.675	m
质心至前轴距离	1.015	m
质心至后轴距离	1.895	m
轮胎半径	0.334	m
绕 z 轴转动惯量	1 536.7	kg·?m²
电机峰值转矩	350	N·m

控制系统	横摆角速度偏差/（rad·s^-1）		质心侧偏角偏差/rad
控制系统	最大值	均方根	最大值	均方根
AFS	0.150	0.059 5	0.045 8	0.020 7
DYC	0.211 3	0.062 9	0.030 5	0.015 6
AFS+DYC	0.118 1	0.041 0	0.028 3	0.015 1

控制系统	横摆角速度偏差/（rad·s^-1）		质心侧偏角偏差/rad
控制系统	最大值	均方根	最大值	均方根
AFS	0.125 1	0.025 8	0.021 1	0.008 8
DYC	0.110 7	0.027 3	0.010 7	0.003 9
AFS+DYC	0.074 4	0.013 3	0.007 3	0.003 2

Coordinated Control of AFS and DYC for Distributed Electric Drive Vehicles Based on Critical Turning Angle

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References 16

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μ	u
μ	NB	NS	ZO	PS	PB
NB	PS	PM	PB	PB	PB
NM	PS	PM	PM	PB	PB
NS	Z0	PS	PM	PM	PB
ZO	NS	ZO	PS	PS	PM
PS	NM	NS	ZO	PS	PM
PM	NB	NM	NS	ZO	PS
PB	NB	NB	NM	NS	ZO

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[3]	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.
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μ	u
μ	NB	NS	ZO	PS	PB
NB	PS	PM	PB	PB	PB
NM	PS	PM	PM	PB	PB
NS	Z0	PS	PM	PM	PB
ZO	NS	ZO	PS	PS	PM
PS	NM	NS	ZO	PS	PM
PM	NB	NM	NS	ZO	PS
PB	NB	NB	NM	NS	ZO

μ	u
μ	NB	NS	ZO	PS	PB
NB	PS	PM	PB	PB	PB
NM	PS	PM	PM	PB	PB
NS	Z0	PS	PM	PM	PB
ZO	NS	ZO	PS	PS	PM
PS	NM	NS	ZO	PS	PM
PM	NB	NM	NS	ZO	PS
PB	NB	NB	NM	NS	ZO