基于二次规划的分布式电动汽车稳定性控制

doi:10.13229/j.cnki.jdxbgxb20170705

摘要/Abstract

摘要： 为了减少稳定性控制中车速降低程度,降低轮胎纵向力利用率,本文基于分布式电动汽车平台,通过二次规划的方法分配各个车轮所需的纵向力,优先基于轮毂电机输出驱动力/制动力来实现横摆力矩分配。当所需横摆力矩超过轮毂电机的最大转矩时,启动液压制动系统进行补偿。双移线试验仿真结果表明,相比于传统差动制动控制系统,基于二次规划的稳定性控制系统与理想车速之间的误差保持在1 km/h以内,车速降低82.25%,平均每个轮胎力纵向利用率下降9.71%。该稳定性控制系统能够提升车辆操控稳定性和安全性,并且在加速/减速工况下具有较好的鲁棒性。

关键词: 车辆工程, 分布式电动汽车, 二次规划, 横摆力矩分配, 操控稳定性

Abstract: In order to reduce the degree of speed reduction in the stability control and the longitudinal force utilization of the tires, the longitudinal force of each wheel is assigned by the secondary programming method based on the distributed electric vehicle platform. The yaw moment distribution based on the wheel motor output driving/braking force is preferred. When the required yaw moment exceeds the maximum torque of the wheel motors, the hydraulic brake system is activated to compensate. The results of Double Lane Change (DLC) simulation test demonstrate that, compared with the differential braking control system, the error between distributed electric vehicle stability control system and the ideal vehicle speed is kept within 1 km/h, the vehicle speed decreases by 82.25%, and the average tire force utilization rate is reduced by 9.71%. The stability control system can improve the stability and the safety of the driving vehicle. Under the acceleration/deceleration conditions, it provides good robustness.

Key words: vehicle engineering, distributed electric vehicle, quadratic programming, distribution of yaw moment, handling stability

中图分类号:

U461.1

金立生, 谢宪毅, 高琳琳, 郭柏苍. 基于二次规划的分布式电动汽车稳定性控制[J]. 吉林大学学报(工学版), 2018, 48(5): 1349-1359.

JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.

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