四轮独驱电动车主动转向与横摆力矩集成控制

摘要

For the active steering and yaw moment integrated control for four-wheel independent drive electric vehicle ,the inte-grated control method is studied based on the optimum control theory .The vehicle integrated control structure is determined .The integrated controller is designed based on the optimum control theory .The drive forces distribution are designed by using the rule allocation method taking the advantage of that the four wheel drive torque are controlled independently .The integrated controller outputs the additional steering wheel angle and the additional yaw moment value based on the difference between the actual yaw rate and the ideal yaw rate and the difference between the actual side slip angle and ideal side slip angle ,which is necessary to ensure the vehicle driving stability .The additional steering wheel angle is attached directly to the steering wheel .The additional yaw moment is distributed by driving forces distributor .The typical work condition is chosen and the control method is verified based on the driving simulator hardware in the loop test bench .The results show that the integrated control can make the vehicle follow the expected value and improve the vehicle driving stability effectively .%针对四轮独立驱动电动车主动转向与横摆力矩集成控制问题,基于最优控制理论进行了研究.确定了整车集成控制结构,应用最优控制理论设计了集成控制器,利用四轮独立驱动电动车四轮驱动力矩独立可控的优势,采用规则分配方法设计了驱动力分配器.集成控制器根据实际横摆角速度和期望横摆角速度之差、实际质心侧偏角和期望质心侧偏角之差输出保证汽车稳定行驶所需的附加方向盘转角和附加横摆力矩值,附加方向盘转角直接作用到方向盘上,附加横摆力矩通过驱动力分配器分配实现.选择典型工况,采用驾驶模拟器硬件在环试验台对所研究的控制方法进行实验验证.验证结果表明,主动转向与横摆力矩集成控制提高了汽车行驶稳定性.