四轮毂驱动电动车辆横向稳定与侧倾预防协同控制策略

doi:10.13229/j.cnki.jdxbgxb.20230093

摘要/Abstract

摘要：

针对四轮轮毂驱动电动汽车在模型预测控制的框架下协同车辆的侧向、横摆运动与侧倾行为，提出一种集成车辆侧向稳定及防侧倾功能的控制策略。首先，为保证预测模型精度，采用非线性轮胎侧向力模型，对车辆未来侧向、横摆及侧倾状态进行预测；然后，基于模型预测控制方法设计控制器，将提高操纵性能、横向稳定性、抑制侧倾、平顺性和安全性等多个控制需求在控制器中集成考虑；最后，仿真实验结果表明：提出的控制器能有效改善车辆在高速急转向时的操纵稳定及侧向稳定性，并有效降低车辆侧倾风险。对于车辆质量增大及质心高度增加引起的高侧倾风险情况，即使控制器面对未知的车辆变化，亦可及时有效地调整车辆姿态防止车辆侧翻，保证行驶安全。

关键词: 模型预测控制, 车辆稳定性控制, 防侧倾控制, 紧急转向行驶

Abstract:

In this paper， a control strategy integrating lateral stability and rollover prevention of four-wheel independent drive electric vehicle was proposed in the framework of model predictive control （MPC） to coordinate the lateral， yaw and roll behaviors of the vehicle. Firstly， to ensure the accuracy of the prediction model， the nonlinear tire lateral force model was utilized to predict the future lateral， yaw and roll states of the vehicle. Then， the controller was designed based on the model predictive control method， and multiple control requirements such as improving handling performance， lateral stability， preventing rollover， ride comfort and safety were integrated into the controller. Finally， the simulation results show that the proposed controller can effectively improve the handling stability and lateral stability of the vehicle in high-speed steering， and effectively reduce the roll risk. For the situation of high roll risk caused by the increase of vehicle mass and height of center of mass， even if the controller faces unknown vehicle changes， it can timely and effectively adjust vehicle attitude to prevent vehicle rollover and ensure driving safety.

Key words: model predictive control, vehicle stability control, rollover prevention control, emergency steering maneuvers

中图分类号:

U461.6

江和耀,王永海,吴幼冬,王萍. 四轮毂驱动电动车辆横向稳定与侧倾预防协同控制策略[J]. 吉林大学学报(工学版), 2024, 54(2): 540-549.

He-yao JIANG,Yong-hai WANG,You-dong WU,Ping WANG. Coordinated lateral stability and rollover prevention control for four⁃wheel independent motor drive electric vehicles[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(2): 540-549.

图/表 9

表1

车辆与轮胎模型参数"

符号	定义	数值
$m$	整备质量/kg	1860
$m s$	簧载质量/kg	1590
$m u$	非簧载质量/kg	270
$L f$	质心到前轴距离/m	1.18
$L r$	质心到后轴距离/m	1.77
$d$	轴距/m	1.575
$R e$	轮胎有效半径/m	0.393
$I z$	横摆转动惯量/（kg·m²）	2687.1
$I x$	滚动惯量/（kg·m²）	804.4
$h s$	质心到侧倾中心距离/m	0.57
$h$	车辆质心高度/m	0.72
$h u$	非簧载质量重心高度/m	0.2
$C φ$	车轮侧倾阻尼系数/（N·m·s·rad^-1）	6364
$K φ$	有效扭转刚度/（N·m·rad^-1）	189 506
$β m$	质心侧偏角归一化最大值/rad	0.1
$γ m$	横摆角速度归一化最大值/（rad·s^-1）	0.4
$T m$	最大附加电机转矩/（N·m）	800
$δ f m$	最大附加前轮转角/rad	0.1

表1

表2

符号定义"

符号	定义
$F y$	轮胎侧向力/N
$α$	轮胎侧偏角/rad
$F z$	轮胎垂向载荷/N
$V x$	车辆纵向速度/（m·s^-1）
$γ$	车辆横摆角速度/（rad·s^-1）
$Δ T$	附加电机转矩/（N·m）
$Δ δ f$	附加前轮转角/rad
$β$	车辆质心侧偏角/rad
$φ$	侧倾角/rad
$φ ˙$	侧倾角速度/（rad·s^-1）
$T$	驾驶员输入电机转矩/（N·m）
$δ f$	驾驶员输入前轮转角/rad

表2

图1

图2

表3

轮胎工作在线性区时系统矩阵元素计算"

矩阵元素	计算形式
$A ? 11$	$2 I x C f + C r V x - m s 2 h s 2 + m I x$
$A ? 12$	$2 I x C f L f - C r L r γ m V x 2 - m s 2 h s 2 + m I x β m - γ m β m$
$A ? 21$	$2 C f L f - C r L r β m I z γ m$
$A ? 22$	$2 C f L f 2 - C r L r 2 I z V x$
$A ? 41$	$- 2 m s h s C f + C r β m - m s 2 h s 2 + m I x$
$A ? 42$	$- 2 m s h s C f L f - C r L r γ m - m s 2 h s 2 + m I x$
$B ? 11$	$- 2 C f I x δ f m V x - m s 2 h s 2 + m I x β m$
$B ? 21$	$- 2 L f C f δ f m I z γ m$
$B ? 41$	$2 C f m s h s δ f m - m s 2 h s 2 + m I x$
$D ? 11$	$- 2 C f I x δ f V x - m s 2 h s 2 + m I x β m$
$D ? 21$	$- 2 L f C f δ f I z γ m + d - T r l + T r r 2 I z R e γ m + d - T f l + T f r 2 I z R e γ m$
$D ? 41$	$- 2 C f m s h s R e δ f - m s 2 h s 2 + m I x R e$

表3

表4

轮胎工作在饱和区时系统矩阵元素计算"

矩阵元素	计算形式
$A ? 11, A ? 21, A ? 22, A ? 41, A ? 42, B ? 11, B ? 21, B ? 41$	0
$A ? 12$	$- γ m β m$
$D ? 11$	$I x F y f l m a x + F y f r m a x + F y r l m a x + F y r r m a x V x - m s 2 h s 2 + m I x β m$
$D ? 21$	$d - T f l + T f r - T r l + T r r 2 I z R e γ m + L f F y f l m a x + F y f r m a x - L r F y r l m a x + F y r r m a x I z γ m$
$D ? 41$	$- m s h s F y f l m a x + F y f r m a x + F y r l m a x + F y r r m a x - m s 2 h s 2 + m I x$

表4

图3

图4

图5

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