紧急避障工况下的分布式驱动电动汽车稳定性控制

为了提高紧急避障工况下分布式驱动电动汽车的稳定性,提出了一种基于纵向力优化的转矩分配策略。控制器采用分层控制:在上层控制器中,根据纵向力的需求,基于线性二次型控制算法计算出控制横摆角速度与质心侧偏角所需的附加横摆力矩;在下层控制器中,考虑各约束条件,将计算出的附加横摆力矩合理地分配给各轮。分别利用CarSim和MATLAB/Simulink搭建整车模型和控制策略模型,进行联合仿真。仿真结果表明,所提出的转矩分配策略可以有效地保证车辆的稳定性,同时通过减少制动力在主动安全控制中的参与范围,起到减少能量损耗的作用。

Stability Control of Distributed Driving Electric Vehicle Under Emergency Obstacle Avoidance

In order to improve the stability of distributed drive electric vehicles under emergency obstacle avoidance conditions,a torque distribution strategy based on longitudinal force optimization is proposed.The controller adoptes hierarchical control:in the upper controller,according to the requirement of longitudinal force,the additional yaw moment needed to control the yaw rate and the side slip angle is calculated based on the linear quadratic control algorithm;In the controller,the calculated additional yaw moments are rationally distributed to the wheels in consideration of the constraints.Co-simulation is carried out by using CarSim and MATLAB/Simulink to build the vehicle model and control strategy model.The simulation results show that the proposed torque distribution strategy can effectively ensure the stability of the vehicle,and at the same time reduce the energy loss by reducing the participation range of braking force in the active safety control.