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

Abstract

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

CLC Number:

U461.6

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.

Figures/Tables 9

Table 1

Vehicle and tire model parameters"

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

Table 1

Table 2

Symbol and description"

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

Table 2

Fig.1

Fig.2

Table 3

Calculation for elements in system matrices with unsaturated tire lateral force"

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

Table 3

Table 4

Calculation for elements in system matrices with saturated tire lateral force"

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
$A ? 12$	$- γ m β m$
$D ? 11$	$I x F y f l m a x + F y f r m a x + F y r l m a x + F y r r m a x V x - m s 2 h s 2 + m I x β m$
$D ? 21$	$d - T f l + T f r - T r l + T r r 2 I z R e γ m + L f F y f l m a x + F y f r m a x - L r F y r l m a x + F y r r m a x I z γ m$
$D ? 41$	$- m s h s F y f l m a x + F y f r m a x + F y r l m a x + F y r r m a x - m s 2 h s 2 + m I x$

Table 4

Fig.3

Fig.4

Fig.5

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