基于ESO的机械弹性电动轮式车辆稳定性控制

doi:10.13229/j.cnki.jdxbgxb.20220224

摘要/Abstract

摘要：

针对机械弹性电动轮（MEEW）式车辆的稳定性控制问题，考虑到车辆在实际行驶时存在的一些MEEW内部摄动和外部干扰，建立了存在非线性干扰项的2自由度车辆模型。基于上述模型对整车进行稳定性分层控制，在上层中分别设计了基于扩张状态观测器（ESO）的横摆角速度和质心侧偏角滑模控制器。通过ESO对非线性干扰项进行实时的观测和补偿。依据 $β$ - $β ˙$ 相平面对车辆的稳定性区域进行划分，并基于此对上述两个控制器进行平滑切换。在下层控制器中，基于二次规划方法进行转矩分配。仿真实验结果表明：在考虑干扰的情况下，本文横摆稳定性控制器能够很好地控制匹配MEEW的分布式驱动电动车的稳定性。

关键词: 扩张状态观测器, 机械弹性电动轮, 横摆稳定性控制, 非线性干扰项, 滑模控制

Abstract:

For the stability control problem of vehicles with mechanical elastic electric wheels（MEEW）， considering the uncertain perturbation of MEEW's and external interference during actual driving， a 2-DOF vehicle model with nonlinear interference term was established. The vehicle's stability control strategy was made of two parts. In the upper layer， a yaw rate sliding mode controller and a sideslip angle sliding mode controller based on extended state observer（ESO） were designed respectively. By using ESO， the nonlinear interference items were observed and compensated in real time. After dividing the stability area of the vehicle according to the $β$ - $β ˙$ phase plane， the above two controllers are switched. In the lower controller， the torque distribution was carried out based on the quadratic programming method. The simulation results show that the proposed control strategy can well control the stability of distributed driven electric vehicle which matchs MEEW.

Key words: extended state observer, mechanical elastic electric wheels, yaw stability control, nonlinear disturbance term, sliding mode control

中图分类号:

U461.6

赵又群,林涛,林棻,沈峘. 基于ESO的机械弹性电动轮式车辆稳定性控制[J]. 吉林大学学报(工学版), 2024, 54(1): 44-54.

You-qun ZHAO,Tao LIN,Fen LIN,Huan SHEN. Stability control of with mechanical elastic electric wheeled vehicles based on extended state observer[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(1): 44-54.

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参数	F_Z /kN
参数	10	15	20
B_x	3.71	3.87	4.44
C_x	2.20	2.11	1.95
D_x	6 719.20	10 175.32	13 352.04
E_x	0.92	0.81	0.77
B_y	11.00	9.13	7.93
C_y	0.70	0.92	0.96
D_y	9 857.26	12 888.68	17 057.95
E_y	-1.30	-1.00	-0.75

参数	数值
车辆质量m/kg	1270
转动惯量I_z /（kg·m²）	1536.7
质心到前轴距离a/m	1.015
质心到后轴距离b/m	1.895
轮距c/m	1.675
轮胎滚动半径R/m	0.325
前轮等效刚度k_f/（N·rad^-1）	-126 050
后轮等效刚度k_r/（N·rad^-1）	-114 590