基于Popov超稳定性的分布式电动汽车稳定性控制

doi:10.13229/j.cnki.jdxbgxb20210294

摘要/Abstract

摘要：

针对目前分布式电动汽车稳定性控制的实时性和自适应性较差的缺点，采用分层式控制结构提出了一种模型参考自适应稳定性控制策略。上层为基于Popov超稳定性的模型参考自适应横摆力矩控制器，通过求解Popov积分不等式得到自适应的前馈及反馈增益，具有计算负荷小、自适应性强等优势，同时能保证控制器的超稳定性要求。下层为基于二次规划的车轮转矩分配控制器，通过有效集法求解加权最小二乘规划问题，实现车轮转矩的动态分配。选取低附着系数的鱼钩工况，在CarSim/Simulink联合仿真平台上对控制策略进行验证。结果表明，本文控制策略与无控制相比，横摆角速度和质心侧偏角的峰值分别减少了44.81%和88.68%；与PID稳定性控制相比，二者的峰值分别减少了30.48%和55.72%。本文提出的稳定性控制策略能够大幅改善汽车的操稳性能，增加汽车在极限工况下的稳定性。

关键词: 车辆工程, 分布式电动汽车, 稳定性控制, Popov超稳定性, 转矩分配

Abstract:

In consideration of the terrible real-time performance and adaptability in vehicle stability control for distributed electric vehicles， a model reference adaptive control strategy based on hierarchical control structure was proposed in this paper. The upper controller was a model reference adaptive yaw moment controller based on Popov hyperstability. The adaptive feedforward and feedback gain was calculated by solving the Popov integral inequality. It had the advantages of small computational burden， excellent self-adaptability， and ensured hyperstability of the controller. The lower controller distributed differential wheel torques according to the desired yaw moment via quadratic programming. Actually， The distribution of wheel torques was exactly the solution of a weighted minimum square problem， which was solved by the active-set method. The proposed hierarchical stability control strategy was verified by the Carsim/Simulink co-simulation platform under the condition of fish hook in a low road adhesion coefficient. The simulation results show that the peaks of yaw rate and sideslip angle decrease 44.81%， 88.68%， respectively， compared with no control. The peaks of yaw rate and sideslip angle decrease 30.48%， 55.72%， respectively， compared with PID control. The proposed stability control strategy can significantly improve vehicle handling and stability performance， and increase stability of vehicles under extreme conditions.

Key words: vehicle engineering, distributed electric vehicle, stability control, Popov hyperstability, torque distribution

中图分类号:

U461.6

赵又群,李宇昊,邓汇凡,林涛,林棻. 基于Popov超稳定性的分布式电动汽车稳定性控制[J]. 吉林大学学报(工学版), 2022, 52(10): 2225-2233.

You-qun ZHAO,Yu-hao LI,Hui-fan DENG,Tao LIN,Fen LIN. Stability control of distributed electric vehicle based on Popov hyperstability[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(10): 2225-2233.

图/表 12

图1

图2

表1

表2

控制器参数"

控制器参数	数值
对称正定矩阵 P	求解Lyapunov方程
正定积分核 K_?	［30.5］
正定矩阵 G_?	［5.1］
半正定时变矩阵 $K ? * (t)$	［11.3t］
半正定时变矩阵 $G ? * (t)$	［13.2t］
正定积分核 K_φ	［0.2］
正定矩阵 G_φ	［0.5］
半正定时变矩阵 $K ψ * (t)$	［0.3t］
半正定时变矩阵 $G ψ * (t)$	［0.4t］
比例系数K_p	500
积分系数K_i	10
微分系数K_d	0.5

表2

图3

图4

图5

图6

图7

图8

图9

表3

参考文献 20

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汽车参数	数值
汽车质量m/kg	2110
绕z轴转动惯量I_z /（kg·m²）	2031.4
质心至前轴距离l_f/m	1.04
质心至后轴距离l_r/m	1.56
传动比i	19.3
轮距d/m	1.48
车轮滚动半径R/m	0.468
电机峰值转矩T_max/（N·m^-1）	400
前轮侧偏刚度K_f/（N·rad^-1）	-116 900
后轮侧偏刚度K_r/（N·rad^-1）	-112 700