[1]赵 轩,叶毅铭,余 曼,等.后轮独立驱动电动汽车横摆稳定性控制研究[J].南京理工大学学报(自然科学版),2019,43(05):622-631.[doi:10.14177/j.cnki.32-1397n.2019.43.05.012]
 Zhao Xuan,Ye Yiming,Yu Man,et al.Research on yaw stability control of rear axle independentdrive electric vehicle[J].Journal of Nanjing University of Science and Technology,2019,43(05):622-631.[doi:10.14177/j.cnki.32-1397n.2019.43.05.012]
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后轮独立驱动电动汽车横摆稳定性控制研究()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
43卷
期数:
2019年05期
页码:
622-631
栏目:
出版日期:
2019-10-31

文章信息/Info

Title:
Research on yaw stability control of rear axle independentdrive electric vehicle
文章编号:
1005-9830(2019)05-0622-10
作者:
赵 轩1叶毅铭1余 曼12魏敬东1
1.长安大学 汽车学院,陕西 西安 710064; 2. 西安航空学院 车辆工程学院,陕西 西安 710077
Author(s):
Zhao Xuan1Ye Yiming1Yu Man12Wei Jingdong1
1.School of Automobile,Chang’an University,Xi’an 710064,China; 2.School of Vehicle Engineering,Xi’an Aeronautical University,Xi’an 710077,China
关键词:
后轮独立驱动电动汽车 横摆稳定性 直接横摆力矩控制 滑模控制
Keywords:
rear axle independent driving electric vehicle yaw stability direct yaw moment control sliding mode control
分类号:
U469.72
DOI:
10.14177/j.cnki.32-1397n.2019.43.05.012
摘要:
为提高后轮独立驱动电动汽车的横摆稳定性,提出以车辆的横摆角速度和质心侧偏角为控制变量,以驱动轮的驱动力为执行力,包括横摆力矩决策层和转矩分配层两部分的直接横摆力矩控制策略。其中控制策略的上层运用滑模控制理论,下层采用优化控制理论,既能保证非线性系统的控制精度,也能保证其响应速度。运用车辆系统动力学建立了包括线性车辆参考模型和非线性车辆计算模型的简化车辆动力学模型,搭建了Matlab/Simulink-Carsim联合仿真平台,利用蛇形试验工况和双移线试验工况对该文提出的控制策略进行了仿真验证。最后,利用A&D5435半实物仿真平台搭建了纯电动汽车硬件在环试验平台,验证了该文控制策略的控制效果。结果表明,所提出的控制策略能够保证车辆横摆稳定性,同时避免了以制动力作为横摆力矩执行力时因纵向车速降低带来的行驶安全性问题。
Abstract:
In order to improve the yaw stability of the rear axle independent driving electric vehicle,a direct yaw moment control strategy is proposed in this paper,the yaw rate and the sideslip angle are taken as the control variables,and the driving force of the driving axle is used as the execution force. The direct yaw moment control strategy includes the yaw moment decision layer and the torque distribution layer. The upper layer of the control strategy is yaw moment decision layer,which uses the sliding mode control theory,and the lower layer is torque distribution layer which adopts the optimal control theory. For nonlinear systems,both control accuracy and response speed can be guaranteed. Based on the vehicle system dynamics,a simplified vehicle dynamics model including linear vehicle reference model and nonlinear vehicle computing model is established. The Matlab/Simulink-Carsim joint simulation platform is built,and the control strategy proposed in this paper is simulated and verified by the snake test condition and the double line shift test condition. The results show that the proposed control strategy can ensure the stability of the vehicle yaw and avoid the driving safety problem caused by the reduction of the longitudinal speed when the braking force is used as the yaw moment. Finally,the A&D5435 semi-physical simulation platform is used to build a pure electric vehicle hardware-in-the-loop test platform to verify the effect of the proposed control strategy.

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备注/Memo

备注/Memo:
收稿日期:2018-07-30 修回日期:2019-03-25
基金项目:国家重点研发计划项目(2017YFC0803904); 国家自然科学基金(51507013); 中国博士后基金(2018T111006; 2017M613034); 陕西省博士后基金(2017BSHEDZZ36); 陕西省重点产业创新链(群)项目(2018ZDCXL-GY-05-03-01); 陕西省重点研发计划(2018ZDXM-GY-082); 陕西省创新人才推进计划-青年科技新星项目(2018KJXX-005)
作者简介:赵轩(1983-),男,博士,副教授,主要研究方向:电动汽车及其控制技术,E-mail:zhaoxuan@chd.edu.cn。
引文格式:赵轩,叶毅铭,余曼,等. 后轮独立驱动电动汽车横摆稳定性控制研究[J]. 南京理工大学学报,2019,43(5):622-631.
投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2019-11-30