轮内电动汽车直接横摆力矩控制
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摘要
针对参数变化及不确定性干扰等非线性因素对于车辆稳定性的影响,设计出一种基于自适应鲁棒滑模控制的策略,保证轮内电动汽车在上述不确定因素的干扰下,仍然可以保证车辆的行驶稳定性。具体搭建了整车二自由度模型和驱动电动机模型,设计自适应鲁棒滑模控制律,利用先进车辆动力学仿真软件Carsim对该控制策略进行了仿真实验;同时进行了实车试验。试验和仿真结果表明,该算法可有效实现直接横摆力矩控制,使车辆在有较大侧向风的干扰下保持行驶稳定性。
Aiming at the influence of nonlinear factors such as parameter change and uncertainty disturbance on vehicle stability,a strategy based on adaptive robust sliding mode( ARSM) control was designed to ensure that the in-wheel electric vehicle can still guarantee the vehicle driving stability under the interference of the above uncertain factors. A two-degree-of-freedom vehicle model and driving motor model were built,an adaptive robust sliding mode control law wqs designed,advanced vehicle dynamics simulation software Carsim was used to simulate the control strategy. The results show that the algorithm can effectively achieve direct yaw moment control,so that the vehicle maintains driving stability under the influence of large lateral wind.
Aiming at the influence of nonlinear factors such as parameter change and uncertainty disturbance on vehicle stability,a strategy based on adaptive robust sliding mode( ARSM) control was designed to ensure that the in-wheel electric vehicle can still guarantee the vehicle driving stability under the interference of the above uncertain factors. A two-degree-of-freedom vehicle model and driving motor model were built,an adaptive robust sliding mode control law wqs designed,advanced vehicle dynamics simulation software Carsim was used to simulate the control strategy. The results show that the algorithm can effectively achieve direct yaw moment control,so that the vehicle maintains driving stability under the influence of large lateral wind.
引文
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[2] WANG H,KONG H,MAN Z,et al. Slidingmode control for steerby-wire systems with AC motors in road vehicles[J]. IEEE Transactions on Industrial Electronics,2014,61(3):1596-1611.
[3] DADASHNIALEHI A,BAB-HADIASHAR A,CAO Z,et al. Intelligentsensorless ABS for in-wheel electric vehicles[J]. IEEE Transactions on Industrial Electronics,2014,61(4):1957-1969.
[4]赵艳娥,张建武.基于滑模控制的四轮驱动电动汽车稳定性控制[J].上海交通大学学报,2009,43(10):1526-1530.
[5]邹广才,罗禹贡,李克强.基于全轮纵向力优化分配的4WD车辆直接横摆力矩控制[J].农业机械学报,2009,40(5):1-6.
[6]王伟达,张为,丁能根,等.汽车DYC系统的二阶滑模控制[J].华南理工大学学报:自然科学版,2011,39(1):141-146.
[7]袁国平.航天器姿态系统的自适应鲁棒控制[D].哈尔滨:哈尔滨工业大学,2013.
[8] ABE M. Vehicle handling dynamics:theory and application[M].Oxford:Butterworth-Heinemann,2009.
[9] CHAU K T,CHAN C C,LIU C. Overview of permanent magnet brushless drives for electric and hybrid electric vehicles[J]. IEEE Transactions on Industrial Electronics,2008,55(6):2246-2257.
[10]杨耕,罗应立.电机与运动控制系统[M].北京:清华大学出版社,2006:338-348.