摘要
为降低两侧车轮垂直载荷转移和附着系数互异路面对四轮毂电机独立驱动电动汽车直线行驶稳定性的影响,通过分析直线行驶失稳跑偏的原因,设计了一种四轮独立驱动协调控制系统。该系统由滑模变结构控制计算纠正跑偏所需的附加横摆力矩,再结合电机驱动的原理和车轮滑转状态,协调分配轮毂电机产生附加横摆力矩或进行车轮防滑控制所需电压调节值。使用Matlab/Simulink建立了14自由度整车模型进行干扰工况的仿真控制,与驱动平均分配及无控制下车辆出现的直线行驶跑偏情况相比,表明协调控制使车辆横摆角速度在(0±0.05°)/s内,较好地提高了车辆直线行驶的稳定性。
In order to reduce the effect on the straight-line driving stability of a four wheel-motordriven electric vehicle engendered by vertical loads and adhesion road inequality between wheels on both sides,the coordinated control system was designed through analyzing the reasons of vehicle deviation. The required additional yaw moment of correcting vehicle deviation was calculated by sliding model control,and then the voltage regulation values of hub motor for generating the additional yaw moment or anti skid control was distributed coordinately with the motor driving principle and the wheel slip states in the designed system. Simulation was implemented in the 14 DOFs vehicle model established by Matlab / Simulink under different operating conditions. Compared with the situations ofvehicle deviation in the average allocation of driving without any control,the simulation results show that the yaw of vehicle is in the range of（ 0 ± 0. 05°） / s preseted and the straight-line driving stability is improved obviously.
出处
《重庆理工大学学报（自然科学）》
CAS
2016年第6期17-25,共9页
Journal of Chongqing University of Technology：Natural Science
基金
江苏省"六大人才高峰"项目(2014-JXQC-004)
关键词
轮毂电机
四轮独立驱动
滑模
协调控制
直线稳定性
hub motor
four wheel independent driving
sliding mode
coordinated control
straightline stability
作者简介
黄锡超（1987-），男，广东人，硕士研究生，主要从事电动汽车性能模拟与控制研究。
