电动轮汽车稳定性滑模控制研究

摘要

By use of independent controllability and quick adjustment of the wheel drive motor torque for 4WID electric-wheel vehicle, this paper studied yaw moment direct control for stability. Based on the nonlinear sliding mode variable structure control theory, three different sliding mode controllers were respectively designed by taking the body yaw rate, the sideslip angle and the combination of the yaw rate and sideslip as the controlled variables. A nonlinear vehicle model in MATLAB / Simulink platform was established for the simulation analysis in two typical test conditions—step steering and single lane. Results showed that the three kinds of control strategies can effectively enhance handling stability and active safety of vehicles in extreme driving conditions. Among the three controllers, the one with both yaw rate and sideslip angle as the control variables achieved the best control effect.%利用四轮独立驱动（4WID）电动轮汽车各轮驱动电机转矩独立控制且调节迅速的特点，对其稳定性的横摆力矩直接控制问题进行了研究。基于非线性滑模变结构控制理论，设计了分别以车身横摆角速度、质心侧偏角以及两者联合为控制变量的车辆稳定性滑模控制器。并在MATLAB/Simulink平台所建立的非线性整车模型上进行了阶跃转向及单移线2个典型试验工况下的仿真分析。结果表明，设计的3种控制策略均能有效地提高车辆极限行驶的操纵稳定性和主动安全性，其中又以横摆角速度与质心侧偏角为联合控制变量的控制效果最好。