适用于后轮轮毂驱动车辆的稳定性控制策略

doi:10.13229/j.cnki.jdxbgxb20191037

摘要/Abstract

摘要：

针对后轮轮毂驱动车辆的稳定性控制问题，提出了基于分层结构的稳定性控制器。首先，在上层控制器中利用参考模型计算理想车辆运动状态，采用LQR控制器计算车辆需要的附加横摆力矩，并根据车辆的稳定性状态进行变权重的设计。其次，为了使车辆能获得尽可能大的地面附着力，提出模糊控制器对每个车轮的滑移/滑转率进行控制。在下层控制器中，根据车辆的稳定性状态对后轮轮毂电机的驱动力矩进行分配。最后，通过VCU在环试验对控制器的有效性进行了验证。结果表明：本文提出的稳定性控制器在车辆处于稳定域内时能计算出附加横摆力矩，控制车辆的横摆角速度，迅速跟随理想值，并抑制质心侧偏角的增大；当车辆处于失稳状态时，能控制车辆迅速恢复稳定，抑制车辆的侧滑。在整个控制过程中，车轮的滑移/滑转率始终保持在最佳滑移/滑转率附近，保证车辆获得较大的附着力。

关键词: 车辆工程, 轮毂电机, 稳定性控制, 线性二次型调节器, 滑移/滑转率控制, 力矩分配

Abstract:

A stability controller based on layered structure is proposed for the rear in-wheel motor drive vehicle. In the upper controller， the reference vehicle is first used to calculate the ideal vehicle state， the linear quadratic regulator （LQR） controller is used to calculate the additional yaw moment required by the vehicle， and the variable weight is designed according to the stability state of the vehicle. Secondly， in order to obtain as much ground adhesion， a fuzzy controller is proposed to control the slip ratio of rear wheels. In the lower controller， the driving torque of the rear in-wheel motor is distributed according to the stability state of the vehicle. Finally， the effectiveness of the controller is verified by the hardware-in-the-loop test. The results show that， when the vehicle is in the stable domain， the stability controller proposed in this paper can control the yaw rate of the vehicle to quickly follow the ideal value and suppress the increase in the sideslip angle. When the vehicle is in an unstable state， it can control the vehicle to quickly return to the stable domain and suppress the side slip of the vehicle. Throughout the control process， the slip ratio of rear wheels is always controlled below the optimal slip ratio to ensure great adhesion.

Key words: vehicle engineering, in-wheel motor, stability control, linear quadratic regulator, slip ratio control, driving torque distribution

中图分类号:

U461.6

陈国迎,姚军,王鹏,夏其坤. 适用于后轮轮毂驱动车辆的稳定性控制策略[J]. 吉林大学学报(工学版), 2021, 51(2): 397-405.

Guo-ying CHEN,Jun YAO,Peng WANG,Qi-kun XIA. Stability control strategy for rear in⁃wheel motor drive vehicle[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(2): 397-405.

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