基于相平面的分布式驱动电动汽车稳定性控制

doi:10.19562/j.chinasae.qcgc.2021.05.011

Abstract

Abstract:

To improve the handling stability of a distributed driven electric vehicle， a driving stability control strategy based on phase plane method is proposed. Firstly， a two degree?of?freedom nonlinear model for vehicle simulation is established to obtain the boundary model of phase plane stability region for vehicle centroid slip angle with different tire?road friction coefficients. Secondly， a regional controller based on the phase plane of centroid sideslip angle is designed to achieve the stability of vehicle. When the vehicle runs in the stability region， the yaw momentum is determined by the fuzzy neural network controller to make the vehicle follow the target variable. When the vehicle runs out of the stability region， the yaw momentum is determined by a combined controller of instability and fuzzy neural network to restore the stability of the vehicle. Finally， by use of Simulink and CarSim software， the stability control method is verified by simulation and on?road experiment under the condition of snaking driving around pile and double line change. The experimental results reveal the feasibility and effectiveness of the proposed control strategy.

Key words: electric vehicle, driving stability, phase plane, distributed driven, fuzzy neural network, regional controner

Longfei Zhong,Yuhui Peng,Ming Jiang. Stability Control of Distributed Driven Electric Vehicle Based on Phase Plane[J].Automotive Engineering, 2021, 43(5): 721-729.

Figures/Tables 27

参数名称	数值	参数名称	数值
整车质量 $m / k g$	286	转动惯量 $I z / (k g ? m 2)$	203
前后轴距 $L / m$	1.58	质心至前轴距离 $a / m$	0.805
轮距 $B / m$	1.20	质心至后轴距离 $b / m$	0.775
质心高度 $h / m$	0.30	前轮侧偏刚度 $k 1 / (N ? r a d - 1)$	-25 600
轮胎半径 $R / m$	0.23	后轮侧偏刚度 $k 2 / (N ? r a d - 1)$	-20 700
最高电压 $U / V$	403.2	电机峰值转矩 $T / (N ? m)$	140

References 19

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路面附着系数μ	c	k
0.3	0.09	-1.69
0.4	0.11	-2.02
0.5	0.14	-2.37
0.6	0.16	-2.86
0.7	0.19	-2.89
0.8	0.21	-3.04
0.9	0.24	-3.35
1.0	0.28	-3.78

参数	相平面法	γ控制	无控制
最大纵向位移/m	2.51	4.59	6.13
最大侧向位移/m	0.10	0.18	0.27
最大横摆角速度偏差/((°)·s^-1)	1.12	3.16	6.12
最大质心侧偏角/rad	0.068	0.084	0.105
相平面失稳度/rad	0	0.023	0.074

参数	相平面法	γ控制	无控制
最大纵向位移/m	2.85	4.82	6.95
最大侧向位移/m	0.51	0.72	0.84
最大横摆角速度偏差/((°)·s^-1)	2.26	5.31	7.98
最大质心侧偏角/rad	0.087	0.120	0.140
相平面失稳度	0.011	0.030	0.050

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Stability Control of Distributed Driven Electric Vehicle Based on Phase Plane

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References 19

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