轮毂电驱动电动汽车横摆率控制方法分析-analysis of yaw rate control method for hub electric drive electric vehicle.docxVIP

AbstractIn recent years, the research on electric vehicles(EVs) becomes more and more popular in the domestic and foreign automobiles field, especially those active safety technology on electric vehicles which is directly related to people’s lives and property has become a top priority. As a vehicle active safety device, the Electronic Stability Control System(ESC) in electric vehicles has a core problem which is vehicle yaw stability control. Therefore, focusing on the yaw stability control problem of in-wheel-motor-driven electric vehicles, this paper will mainly research on the yaw rate control methods.Firstly, this article simply analyzes electric vehicle nonlinear dynamic characteristics, which includes vehicle dynamics and wheel dynamics and tire nonlinear model. Then these models are simplified appropriately under certain assumptions. At the same time the Ackermann-Jeantand model is used to analyze front wheel slip ratio constraints determined by front left and right wheel speed difference. Lastly a yaw rate control model with wheel slip ratio constraints for front wheel hub-motor-driven electric vehicles is established.Secondly, this paper analyzes and discusses the calculation of desired yaw rate on basis of Two Degrees of Freedom(2-DoF) linear vehicle model and the causes of vehicle steering instability. Then the slip ratio equality constraint is approximately converted into slip ratio expected value programming. For realizing vehicle yaw rate tracking control, the sliding mode controllers which adjust the motor drive torque at each front wheel based on vehicle states are designed based on the depicted control problem. Meanwhile, this paper improves the sliding mode controller for eliminating sliding mode chattering as well as handling with the special situation that the denominator of controller output variable is approximately equal to zero.Finally, An existing veDYNA simulation model which is analyzed and appropriately modified in this essay meets the