科技创新一种分布式驱动电动汽车操纵稳定性控制算法.pdfVIP

学兔兔 汽 车 工 程 2014年(第36卷)第2期 Automotive Engineering 2014026 一 种分布式驱动电动汽车操纵稳定性控制算法木 冯 冲，丁能根，何勇灵 (北京航空航天大学交通科学与工程学院，北京 100191) [摘要] 针对四轮轮毂电机独立驱动、四轮线控转向电动汽车的过驱动系统，以提高汽车的操纵稳定性为目 标，提出了一种基于伪逆控制分配的控制算法。该算法以驾驶员对转向盘和加速踏板的操纵量为输入，通过伪逆控 制分配，对汽车的前、后轮转角，4个车轮的驱动力进行控制。在Matlab／Simulink仿真环境下采用8自由度非线性 车辆模型对所提出的算法，进行了正弦输入工况和双移线工况的仿真，并与采用常规控制方法时进行对比。结果表 明，伪逆控制分配算法提高了汽车对驾驶员驾驶意图的跟随性能，并改善了汽车的稳定性。 关键词：过驱动系统；伪逆控制分配；跟随性能；稳定性 A Handling and Stability Control Algorithm for Distributed Drive Electric Vehicles Feng Chong．Ding Nenggen＆ He Yongling School of Transportation Science and Engineering，Beihang Univemiq，Be ng 100191 [Abstract] To improve the handling stability of a four wheel hub—motor independent drive，four—wheel steer- ing-by-wire electric vehMe，a typical over-actuated system，an algorithm of pseudo inverse control allocation is pro- posed．By means of pseudo inverse control allocation with steering wheel angle and acceleration pedal travel given by driver as input，the algorithm exerts control over the rotation angles of front and rear wheels and the driving forces of four wheels．Under Matlab／Simulink simulation environment and based on 8 DOF nonlinear vehicle model，simu— lations are conducted on the algorithm proposed with both sinusoidal input and double lane change conditions and the results are compared to that with conventional control scheme．The resuhs show that with the algorithm of pseudo inverse control allocation the vehicle performance of tracking driver S intention is enhanced and the stability of vehi— cle is improved． Keywords：over·actuated sys