基于ESO的机械弹性电动轮式车辆稳定性控制

doi:10.13229/j.cnki.jdxbgxb.20220224

Abstract

Abstract:

For the stability control problem of vehicles with mechanical elastic electric wheels（MEEW）， considering the uncertain perturbation of MEEW's and external interference during actual driving， a 2-DOF vehicle model with nonlinear interference term was established. The vehicle's stability control strategy was made of two parts. In the upper layer， a yaw rate sliding mode controller and a sideslip angle sliding mode controller based on extended state observer（ESO） were designed respectively. By using ESO， the nonlinear interference items were observed and compensated in real time. After dividing the stability area of the vehicle according to the $β$ - $β ˙$ phase plane， the above two controllers are switched. In the lower controller， the torque distribution was carried out based on the quadratic programming method. The simulation results show that the proposed control strategy can well control the stability of distributed driven electric vehicle which matchs MEEW.

Key words: extended state observer, mechanical elastic electric wheels, yaw stability control, nonlinear disturbance term, sliding mode control

CLC Number:

U461.6

You-qun ZHAO,Tao LIN,Fen LIN,Huan SHEN. Stability control of with mechanical elastic electric wheeled vehicles based on extended state observer[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(1): 44-54.

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参数	F_Z /kN
参数	10	15	20
B_x	3.71	3.87	4.44
C_x	2.20	2.11	1.95
D_x	6 719.20	10 175.32	13 352.04
E_x	0.92	0.81	0.77
B_y	11.00	9.13	7.93
C_y	0.70	0.92	0.96
D_y	9 857.26	12 888.68	17 057.95
E_y	-1.30	-1.00	-0.75

参数	数值
车辆质量m/kg	1270
转动惯量I_z /（kg·m²）	1536.7
质心到前轴距离a/m	1.015
质心到后轴距离b/m	1.895
轮距c/m	1.675
轮胎滚动半径R/m	0.325
前轮等效刚度k_f/（N·rad^-1）	-126 050
后轮等效刚度k_r/（N·rad^-1）	-114 590

Stability control of with mechanical elastic electric wheeled vehicles based on extended state observer

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