混合动力轿车驱动工况下防滑与侧向稳定性控制算法研究
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摘要
节能、环保与安全是汽车工业发展永恒的主题。混合动力轿车作为节能与新能源汽车的典范，具有良好的市场前景。在车辆主动安全方面，混合动力轿车对电子稳定性控制系统的需求同传统汽车是一致的。电子稳定性控制系统（Electronic StabilityControl，ESC）作为一种汽车主动安全控制系统，能够在驱动、滑行和制动过程中提高车辆在极限行驶工况下的侧向稳定性，对减少车辆事故发生率有突出的效果。
混合动力汽车的稳定性控制面临着许多新的问题。混合动力汽车在滑行或制动过程中需要实现电子稳定性控制系统同再生制动系统的协调控制，国内学者对此已经开展了广泛的研究；驱动工况的防滑与侧向稳定性控制算法是电子稳定性控制算法的重要组成部分，如何协调控制驱动系统输出转矩与驱动轮制动力矩、以及协调发动机与电机的输出转矩来实现驱动工况下对车辆的防滑与侧向稳定性控制，也是当前的研究热点之一。
开展混合动力轿车稳定性控制系统的研究对我国汽车行业自主研发能力的提升和节能与新能源汽车产业的发展都具有重要的意义。本文结合吉林省科技支撑计划重大专项，与中国第一汽车集团股份有限公司技术中心密切合作，以并联式混合动力轿车为研究对象，针对驱动工况下的防滑与侧向稳定性控制算法进行研究。论文内容围绕整体算法结构设计、混合动力轿车的驱动防滑控制算法研究、驱动工况的侧向稳定性控制算法研究和混合动力总成控制与稳定性控制协调控制算法研究四个方面进行，算法的有效性通过软件在环仿真和硬件在环平台试验进行了验证。论文主要包括以下内容：
(1)混合动力轿车防滑与侧向稳定性控制算法架构设计。根据模块化与层次化的设计思想，首先将算法分为了防滑与侧向稳定性控制和混合动力总成控制与稳定性控制协调控制两部分。防滑与侧向稳定性控制算法位于稳定性控制器中，混合动力总成控制与稳定性控制协调控制算法位于混合动力整车控制器中，两部分算法通过总线通讯进行数据交换；防滑与侧向稳定性控制算法中，侧向稳定性控制算法作为上层模块对车辆目标横摆力矩进行计算，驱动防滑控制算法作为下层模块对驱动系统的目标驱动转矩和车轮的目标制动力矩进行计算。
(2)混合动力轿车驱动防滑控制算法研究。在完成对算法结构设计的基础上，设计了最佳驱动转矩估算算法，并以驱动轮平均轮速和驱动轮轮速差为控制变量，基于模糊PID和有限状态机理论，设计了混合动力轿车驱动防滑控制算法。
(3)驱动工况的侧向稳定性控制算法研究。首先利用相平面分析法分析了驱动工况对车辆侧向稳定性的影响，并修正了驱动工况下目标横摆角速度和质心侧偏角的计算方法，提出了侧向稳定性控制的控制策略；针对横摆力矩控制设计了基于二次型最优理论的横摆力矩控制算法；针对驱动工况的不足转向问题，将驾驶员的意图引入到模糊决策中去，设计了基于模糊自适应PD理论的驱动系统输出转矩控制算法，对加速行驶不足转向工况的驱动系统输出转矩进行控制。对驱动防滑同侧向稳定性控制的协调控制算法进行了研究，提出了基于驱动轮目标滑转率的协调算法；对驱动防滑和侧向稳定性控制的驱动力矩控制协调算法进行了研究。
(4)混合动力总成控制与稳定性控制协调控制算法研究。针对稳定性控制过程中混合动力总成控制的转矩需求、工作模式确定和转矩分配设计了协调策略和分配算法。工作模式协调策略用来防止由于稳定性控制目标值变化造成的混合动力总成工作模式频繁切换。同发动机相比，电机对转矩控制的响应更快，根据这一特点，在不同的工作模式下，以电机响应转矩需求中的动态部分和发动机响应转矩需求中的稳态部分为原则，设计了基于低通滤波原理的电机和发动机的转矩分配算法。
(5)控制算法离线仿真验证。首先在Matlab/Simulink环境下建立了混合动力轿车驱动工况下的防滑与侧向稳定性控制系统离线仿真平台。基于该平台，分别在均一路面、分离路面和跃变路面条件下对驱动防滑控制算法进行了仿真验证；分别在阶跃转向加速工况和正弦延迟加速工况下对稳定性控制算进行了驾驶员开环验证；分别在双移线加速工况和200米半径定圆转向加速工况下对稳定性控制算法进行了驾驶员闭环仿真验证。验证结果表明，通过对混合动力总成控制与稳定性控制的协调控制，本文所开发的混合动力轿车防滑与侧向稳定性控制算法能够提高车辆驱动工况的加速性能和侧向稳定性能。
(6)控制算法硬件在环试验验证。在基于Matlab/xPC的混合动力轿车硬件在环试验平台上，对控制算法的实时性和有效性进行了验证。该平台以离线仿真平台为基础，还包括基于Matlab/xPC Target实时系统平台，数据采集与处理部分和硬件台架部分，其中硬件台架包括液压制动系统台架、电机台架及操纵台架等三部分。基于该平台，分别在均一路面、分离路面和跃变路面条件下对驱动防滑控制算法进行了仿真验证；在阶跃转向加速工况下对稳定性控制算进行了驾驶员开环验证；在双移线加速工况下对稳定性控制算法进行了驾驶员闭环仿真验证。验证结果进一步表明，本文所开发的算法能够有效提高混合动力轿车驱动工况的加速性能和侧向稳定性能。
Safety and environmental protection is the eternal theme of the automobile industry.Hybrid cars, as a model of energy-saving and new energy vehicles, have good marketprospects. In the aspect of the vehicle active safety, the demand of electronic stability controlsystem for hybrid cars is consistent with conventional cars. Electronic stability controlsystem (ESC), as a vehicle active safety control system, can improve the vehicle's lateralstability under extreme working conditions such as driving condition, coasting condition andbraking condition, which can prominently reduce vehicle accidents occurring rate. It is aninevitable trend that ESC will be combined with the hybrid cars.
Many new problems exist in achieving hybrid vehicle stability control. The electronicstability control system needs to be coordinated with regenerative braking system while thehybrid car is coasting or braking, which has been conducted in extensive research bydomestic scholars; at the same time, the traction control and lateral stability controlalgorithm under driving conditions are important parts of the electronic stability controlalgorithm, how to implement the vehicle lateral stability control and anti spin control underdriving conditions while achieving the coordination of the motor and engine torque controlwith the hybrid control system effectively and reasonablely, is also one of the currentresearch focus.
Researching of stability control for hybrid cars has important significance not only inenhancing R&D capabilities of China's automotive industry， but also in developingenergy-saving and new energy automotive industry.This paper bases on the major projects ofthe Technology Support Program of Jilin Province, in close cooperation with China FAWGroup Corporation Technology Center,focusing on the development of anti spin and lateralstability control algorithm under the driving condition for parallel hybrid vehicle. The paperfocuses on four aspects, which are designing of overall algorithm structure, the tractioncontrol algorithm, the lateral stability under the driving condition and the coordinating control algorithm of the hybrid powertrain with stability control,the effectiveness ofalgorithm has been validated through simulation with software-in-loop and bench test withhardware-in-loop. The main works of this paper are as follows:
(1) Structural design of anti spin and lateral stability control algorithm of hybrid car:According to the modular and hierarchical design principle, the algorithm is divided into twoparts, the traction and lateral stability control and the coordination control between hybridpowertrain control and stability control. The anti spin and lateral stability control algorithmexists in the stability controller, the coordination control between hybrid powertrain controland stability control algorithm exists in the hybrid vehicle controller, the two algorithm partsexchange data via bus communication; the lateral stability control algorithm, as the upperlayer module, calculates the vehicle target yaw moment, while the anti spin controlalgorithm, as the lower module, calculates the target driving torque and the target brakingtorque.
(2) Study on anti spin control algorithm for hybrid car. On the basis of the designedalgorithm structure, optimum drive torque estimation algorithm is designed and the averagewheel speed of two drive wheels and the wheel speed difference of two drive wheels aretaken as control variables, the control algorithm is designed base on Fuzzy PID and finitestate machine.
(3) Study on the lateral stability control algorithm under driving condition. The controlalgorithms are designed respectively for the yaw moment control and drive system torquecontrol to improve the vehicle lateral stability under driving condition. Firstly, the impactionof driving condition on the vehicle lateral stability is analyzed with the vehicle sideslip angleand phase plane method; secondly, a control algorithm of correcting the calculation of targetyaw angular rate and sideslip angle under drive condition is proposed; thirdly,for yawmoment control, the lateral stability controller is designed based on quadratic optimal theory;fourthly,for the under steering under driving condition, the fuzzy PD controller is designed tocontrol the output torque of the hybrid drive system. The coordination method based on thetarget slip ratio of the driving wheel is proposed during the study on the coordinationbetween the anti spin control and lateral stability control algorithm; the coordination ofdriving torque between the anti spin control and lateral stability control algorithm has beenstudied.
(4) Study on the coordination control algorithm between hybrid powertrain control andstability control. The work modes coordinate strategies and torque allocation algorithm aredesigned respectively for hybrid powertrain torque demand, working mode and torquedistribution during stability control process. Working mode coordinating strategy can preventfrequent switching of operating mode of the hybrid powertrain due to the changes of targetvalue in stability control. Making use of that the motor responses faster than the enginethrottle control, under different mode, with the principle of allocating the dynamic portion oftorque demand to motor and allocating the static portion of torque demand to engine,torquedemand distribution algorithm is designed for different modes of operation based on theprinciple of low-pass filter.
(5) Software-in-loop verification of control algorithm. Firstly, a stability control systemoffline simulation platform has been established in Matlab/Simulink environment. With thisplantform,the anti spin control algorithm has been verified on the homogeneous road, theμ-split road and μ-jump road conditions; the open-loop verifications of stability controlalgorithm has been implemented by step steering and sine with dwell steering underaccelerating condition; the closed-loop verification of stability control algorithm has beenimplemented by double lane and the steering in a circle with a radius of200meters underaccelerating condition. The validation results show that, through the coordinate control of thehybrid powertrain control and stability control, the developed anti spin and lateral stabilitycontrol algorithm for hybrid cars can improve the acceleration and lateral stability of thevehicle under acceleration condition.
(6) Hardware-in-loop verification of control algorithm. The real-time performance andeffectiveness of the control algorithm are verified on the hardware in the loop test bentch forhybrid cars based on Matlab/xPC. The test platform bases on offline simulation platform,including Matlab/xPC Target real-time system platform, data acquisition and processingsystem, and system hardware bench, of which the hardware bench includes a hydraulic brakesystem bench, a motor bench and a control desk. With the platform, the verifications of antispin control algorithm on the homogeneous road, the μ-split road and μ-jump roadconditions, the open-loop verifications of stability control algorithm on step steering underaccelerating condition, the closed-loop verification of stability control algorithm on thedouble lane under accelerating condition. The validation results show that the developed stability control algorithm for hybrid cars in this paper can improve the acceleration andlateral stability of the vehicle on driving condition.
混合动力汽车的稳定性控制面临着许多新的问题。混合动力汽车在滑行或制动过程中需要实现电子稳定性控制系统同再生制动系统的协调控制，国内学者对此已经开展了广泛的研究；驱动工况的防滑与侧向稳定性控制算法是电子稳定性控制算法的重要组成部分，如何协调控制驱动系统输出转矩与驱动轮制动力矩、以及协调发动机与电机的输出转矩来实现驱动工况下对车辆的防滑与侧向稳定性控制，也是当前的研究热点之一。
开展混合动力轿车稳定性控制系统的研究对我国汽车行业自主研发能力的提升和节能与新能源汽车产业的发展都具有重要的意义。本文结合吉林省科技支撑计划重大专项，与中国第一汽车集团股份有限公司技术中心密切合作，以并联式混合动力轿车为研究对象，针对驱动工况下的防滑与侧向稳定性控制算法进行研究。论文内容围绕整体算法结构设计、混合动力轿车的驱动防滑控制算法研究、驱动工况的侧向稳定性控制算法研究和混合动力总成控制与稳定性控制协调控制算法研究四个方面进行，算法的有效性通过软件在环仿真和硬件在环平台试验进行了验证。论文主要包括以下内容：
(1)混合动力轿车防滑与侧向稳定性控制算法架构设计。根据模块化与层次化的设计思想，首先将算法分为了防滑与侧向稳定性控制和混合动力总成控制与稳定性控制协调控制两部分。防滑与侧向稳定性控制算法位于稳定性控制器中，混合动力总成控制与稳定性控制协调控制算法位于混合动力整车控制器中，两部分算法通过总线通讯进行数据交换；防滑与侧向稳定性控制算法中，侧向稳定性控制算法作为上层模块对车辆目标横摆力矩进行计算，驱动防滑控制算法作为下层模块对驱动系统的目标驱动转矩和车轮的目标制动力矩进行计算。
(2)混合动力轿车驱动防滑控制算法研究。在完成对算法结构设计的基础上，设计了最佳驱动转矩估算算法，并以驱动轮平均轮速和驱动轮轮速差为控制变量，基于模糊PID和有限状态机理论，设计了混合动力轿车驱动防滑控制算法。
(3)驱动工况的侧向稳定性控制算法研究。首先利用相平面分析法分析了驱动工况对车辆侧向稳定性的影响，并修正了驱动工况下目标横摆角速度和质心侧偏角的计算方法，提出了侧向稳定性控制的控制策略；针对横摆力矩控制设计了基于二次型最优理论的横摆力矩控制算法；针对驱动工况的不足转向问题，将驾驶员的意图引入到模糊决策中去，设计了基于模糊自适应PD理论的驱动系统输出转矩控制算法，对加速行驶不足转向工况的驱动系统输出转矩进行控制。对驱动防滑同侧向稳定性控制的协调控制算法进行了研究，提出了基于驱动轮目标滑转率的协调算法；对驱动防滑和侧向稳定性控制的驱动力矩控制协调算法进行了研究。
(4)混合动力总成控制与稳定性控制协调控制算法研究。针对稳定性控制过程中混合动力总成控制的转矩需求、工作模式确定和转矩分配设计了协调策略和分配算法。工作模式协调策略用来防止由于稳定性控制目标值变化造成的混合动力总成工作模式频繁切换。同发动机相比，电机对转矩控制的响应更快，根据这一特点，在不同的工作模式下，以电机响应转矩需求中的动态部分和发动机响应转矩需求中的稳态部分为原则，设计了基于低通滤波原理的电机和发动机的转矩分配算法。
(5)控制算法离线仿真验证。首先在Matlab/Simulink环境下建立了混合动力轿车驱动工况下的防滑与侧向稳定性控制系统离线仿真平台。基于该平台，分别在均一路面、分离路面和跃变路面条件下对驱动防滑控制算法进行了仿真验证；分别在阶跃转向加速工况和正弦延迟加速工况下对稳定性控制算进行了驾驶员开环验证；分别在双移线加速工况和200米半径定圆转向加速工况下对稳定性控制算法进行了驾驶员闭环仿真验证。验证结果表明，通过对混合动力总成控制与稳定性控制的协调控制，本文所开发的混合动力轿车防滑与侧向稳定性控制算法能够提高车辆驱动工况的加速性能和侧向稳定性能。
(6)控制算法硬件在环试验验证。在基于Matlab/xPC的混合动力轿车硬件在环试验平台上，对控制算法的实时性和有效性进行了验证。该平台以离线仿真平台为基础，还包括基于Matlab/xPC Target实时系统平台，数据采集与处理部分和硬件台架部分，其中硬件台架包括液压制动系统台架、电机台架及操纵台架等三部分。基于该平台，分别在均一路面、分离路面和跃变路面条件下对驱动防滑控制算法进行了仿真验证；在阶跃转向加速工况下对稳定性控制算进行了驾驶员开环验证；在双移线加速工况下对稳定性控制算法进行了驾驶员闭环仿真验证。验证结果进一步表明，本文所开发的算法能够有效提高混合动力轿车驱动工况的加速性能和侧向稳定性能。
Safety and environmental protection is the eternal theme of the automobile industry.Hybrid cars, as a model of energy-saving and new energy vehicles, have good marketprospects. In the aspect of the vehicle active safety, the demand of electronic stability controlsystem for hybrid cars is consistent with conventional cars. Electronic stability controlsystem (ESC), as a vehicle active safety control system, can improve the vehicle's lateralstability under extreme working conditions such as driving condition, coasting condition andbraking condition, which can prominently reduce vehicle accidents occurring rate. It is aninevitable trend that ESC will be combined with the hybrid cars.
Many new problems exist in achieving hybrid vehicle stability control. The electronicstability control system needs to be coordinated with regenerative braking system while thehybrid car is coasting or braking, which has been conducted in extensive research bydomestic scholars; at the same time, the traction control and lateral stability controlalgorithm under driving conditions are important parts of the electronic stability controlalgorithm, how to implement the vehicle lateral stability control and anti spin control underdriving conditions while achieving the coordination of the motor and engine torque controlwith the hybrid control system effectively and reasonablely, is also one of the currentresearch focus.
Researching of stability control for hybrid cars has important significance not only inenhancing R&D capabilities of China's automotive industry， but also in developingenergy-saving and new energy automotive industry.This paper bases on the major projects ofthe Technology Support Program of Jilin Province, in close cooperation with China FAWGroup Corporation Technology Center,focusing on the development of anti spin and lateralstability control algorithm under the driving condition for parallel hybrid vehicle. The paperfocuses on four aspects, which are designing of overall algorithm structure, the tractioncontrol algorithm, the lateral stability under the driving condition and the coordinating control algorithm of the hybrid powertrain with stability control,the effectiveness ofalgorithm has been validated through simulation with software-in-loop and bench test withhardware-in-loop. The main works of this paper are as follows:
(1) Structural design of anti spin and lateral stability control algorithm of hybrid car:According to the modular and hierarchical design principle, the algorithm is divided into twoparts, the traction and lateral stability control and the coordination control between hybridpowertrain control and stability control. The anti spin and lateral stability control algorithmexists in the stability controller, the coordination control between hybrid powertrain controland stability control algorithm exists in the hybrid vehicle controller, the two algorithm partsexchange data via bus communication; the lateral stability control algorithm, as the upperlayer module, calculates the vehicle target yaw moment, while the anti spin controlalgorithm, as the lower module, calculates the target driving torque and the target brakingtorque.
(2) Study on anti spin control algorithm for hybrid car. On the basis of the designedalgorithm structure, optimum drive torque estimation algorithm is designed and the averagewheel speed of two drive wheels and the wheel speed difference of two drive wheels aretaken as control variables, the control algorithm is designed base on Fuzzy PID and finitestate machine.
(3) Study on the lateral stability control algorithm under driving condition. The controlalgorithms are designed respectively for the yaw moment control and drive system torquecontrol to improve the vehicle lateral stability under driving condition. Firstly, the impactionof driving condition on the vehicle lateral stability is analyzed with the vehicle sideslip angleand phase plane method; secondly, a control algorithm of correcting the calculation of targetyaw angular rate and sideslip angle under drive condition is proposed; thirdly,for yawmoment control, the lateral stability controller is designed based on quadratic optimal theory;fourthly,for the under steering under driving condition, the fuzzy PD controller is designed tocontrol the output torque of the hybrid drive system. The coordination method based on thetarget slip ratio of the driving wheel is proposed during the study on the coordinationbetween the anti spin control and lateral stability control algorithm; the coordination ofdriving torque between the anti spin control and lateral stability control algorithm has beenstudied.
(4) Study on the coordination control algorithm between hybrid powertrain control andstability control. The work modes coordinate strategies and torque allocation algorithm aredesigned respectively for hybrid powertrain torque demand, working mode and torquedistribution during stability control process. Working mode coordinating strategy can preventfrequent switching of operating mode of the hybrid powertrain due to the changes of targetvalue in stability control. Making use of that the motor responses faster than the enginethrottle control, under different mode, with the principle of allocating the dynamic portion oftorque demand to motor and allocating the static portion of torque demand to engine,torquedemand distribution algorithm is designed for different modes of operation based on theprinciple of low-pass filter.
(5) Software-in-loop verification of control algorithm. Firstly, a stability control systemoffline simulation platform has been established in Matlab/Simulink environment. With thisplantform,the anti spin control algorithm has been verified on the homogeneous road, theμ-split road and μ-jump road conditions; the open-loop verifications of stability controlalgorithm has been implemented by step steering and sine with dwell steering underaccelerating condition; the closed-loop verification of stability control algorithm has beenimplemented by double lane and the steering in a circle with a radius of200meters underaccelerating condition. The validation results show that, through the coordinate control of thehybrid powertrain control and stability control, the developed anti spin and lateral stabilitycontrol algorithm for hybrid cars can improve the acceleration and lateral stability of thevehicle under acceleration condition.
(6) Hardware-in-loop verification of control algorithm. The real-time performance andeffectiveness of the control algorithm are verified on the hardware in the loop test bentch forhybrid cars based on Matlab/xPC. The test platform bases on offline simulation platform,including Matlab/xPC Target real-time system platform, data acquisition and processingsystem, and system hardware bench, of which the hardware bench includes a hydraulic brakesystem bench, a motor bench and a control desk. With the platform, the verifications of antispin control algorithm on the homogeneous road, the μ-split road and μ-jump roadconditions, the open-loop verifications of stability control algorithm on step steering underaccelerating condition, the closed-loop verification of stability control algorithm on thedouble lane under accelerating condition. The validation results show that the developed stability control algorithm for hybrid cars in this paper can improve the acceleration andlateral stability of the vehicle on driving condition.
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