摘要
根据四轮独立驱动电动汽车每个车轮转矩可以单独控制的特点,建立了用于稳定性控制的电动汽车理想的线性2自由度模型.选择质心侧偏角和横摆角速度作为稳定性控制的主要控制变量,运用直接横摆力矩控制方法,基于滑模控制理论,分别设计了以质心侧偏角、横摆角速度以及两者联合为控制变量的稳定性控制策略,并在Matlab/Simulink环境下进行了转向行驶以及移线行驶的仿真分析.结果表明,滑模控制下的质心侧偏角与横摆角速度联合控制策略能够将质心侧偏角控制在稳定范围内,并能够很好地跟踪车辆的期望横摆角速度.
A two degree of freedom linear desired vehicle dynamic model was set up for a four-in-wheel motor drive electric vehicle （EV）. The sideslip angle and yaw rate are chosen to be the main control variables to maintain the stability of the EV. The direct yaw-moment control method was developed based on sliding mode control theory. Control strategies based on sideslip, yaw rate and the combination of the two parameters were proposed to improve the handling and stability of EV. Consequently, the effectiveness of the control method was validated in the Matlab/Simulink environment. By simulation results of J-turn and lane change, it is demonstrated that the present stability control system based on the combined parameters is effective on maintaining the sideslip angle and the yaw rate within the optimal range.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2009年第10期1526-1530,共5页
Journal of Shanghai Jiaotong University
基金
国家高技术研究发展计划(863)项目(2001AA505000-114)
关键词
电动汽车
四轮驱动
轮毂电动机
稳定性控制
滑模控制
electric vehicle （EV）
four-wheel drive
in-wheel motor
stability control
sliding modecontrol
