新型电动轮转向系统AFS与DYC联合控制策略

摘要

提出一种实现主动转向和直接横摆力矩控制功能的新型电动轮转向系统.介绍了新型电动轮转向系统的系统结构和基本工作原理,并建立了新型电动轮转向系统与整车机电耦合的动力学模型.提出了主动转向(AFS)与直接横摆力矩控制(DYC)的联合控制策略,并基于LQR最优控制理论进行了控制器的设计.为验证所提出的AFS与DYC联合控制策略的有效性,进行了有侧向风作用的极限工况仿真试验.仿真结果表明,所提出的AFS与DYC联合控制策略是有效的,进一步提高了汽车在极限工况下行驶的侧向稳定性.%A novel differential steering system with in-wheel motor was proposed,by which active steering (AFS)function and direct yaw-moment control (DYC) function can be realized.System structure and basic operation principle of the novel differential steering system with in-wheel motor were described in detail,as well as dynamic models of electro-mechanical coupling for the novel steering system and vehicle were built.Then,combination control strategy of active steering and direct yaw-moment control was proposed,as well as controller was designed based on linear quadratic regulator (LQR) control theory.To verify the effectiveness of the combination control strategy of AFS and DYC,simulation test in limiting condition with the intervention of lateral wind force was conducted.Simulation results indicate that the combination control strategy of AFS and DYC proposed in this paper is effective,which can further improve the lateral stability of the vehicle that driving at the limiting condition.