多轴电驱动车辆横摆稳定性控制仿真研究

摘要

With the increase of public's safety awareness,the study of safety of vehicles has become an important part in vehicle research.Controlling of the vehicle yaw stability is an approach of active safety control which can effectively guarantee the lateral stability,hence the significance of the study of the control methods of yaw stability.Aiming on the features of multi-axle electric driven vehicle,this paper researches the strategy of control of yaw stability based on DYC (Direct Yaw-moment Control) theory by establishing vehicle dynamics model.Then the joint simulation was implemented under the typical test.The results illustrates that the control system designed can effectively improve the vehicle yaw stability.%随着近年来对行车安全要求的提高,车辆的安全性研究也成为当前车辆研究中重要的一部分,对用于运载、发射等重型车辆尤其如此.对车辆横摆稳定性的控制是一种主动安全控制的手段,能够有效地保障汽车行驶过程中的侧向稳定性.因此对横摆稳定性控制方法的研究显得尤为重要.针对各轮独立电驱动多轴重型发射车辆的结构特点,建立了二自由度数学模型,利用其各电动轮独立可控的优点,对基于直接横摆力矩控制(Direct Yaw-moment Control,DYC)理论的横摆稳定性控制策略进行了研究和分析.并利用联合仿真,从响应速度、精确性等方面,验证了横摆稳定性控制系统的可行性.仿真结果表明该车辆稳定性控制系统可以使车辆横摆角速度和质心侧偏角得到有效控制,从而提高其稳定性.