摘要
针对传统的混合电动汽车转向制动稳定协同控制方法中,普遍存在着控制完成时间较长、成本消耗较大等问题。提出一种基于2自由度调节器的混合电动汽车转向制动稳定协同控制方法。通过对电动汽车进行分析,利用黑板规则根据混合电动汽车转向系统中的车轮状态和整车状态进行任务协同,得到混合电动汽车转向制动稳定的期望参考值;通过2自由度调节器将汽车转向跟随控制和抗扰控制分离,以转向制动稳定期望值为目标,对转向制动控制参数进行优化,完成控制。实验结果表明,所提方法控制完成时间较短、成本消耗较低,具有一定的应用性。
In the traditional cooperative control method,the control completion time is long and cost consumption is high.Therefore,a coordinative control method for steering and braking stability of hybrid electric vehicle based on two-degrees-of-freedom regulator was proposed.After analyzing the electric vehicle,we used the blackboard rule to coordinate the task according to the wheel state and the vehicle state in the hybrid electric vehicle steering system.And then,we got the expected reference value of steering and braking stability of hybrid electric vehicle.Moreover,we used the two-degrees-of-freedom regulator to separate the following control of vehicle steering from the anti-interference control.Based on the expected value of steering and braking stability,steering and braking control parameters were optimized to achieve the control.Simulation results show that the proposed method has shorter control completion time and lower cost.It has certain applicability.
作者
章德平
ZHANG De-ping(Department of Mechanical Engineering,Wuhan Polytechnic University,Wuhan Hubei 430048,China)
出处
《计算机仿真》
北大核心
2020年第7期183-186,共4页
Computer Simulation
基金
国家自然科学青年基金(51704221)。
关键词
混合电动汽车
转向制动稳定
协同控制
自由度
Hybrid electric vehicle
Steering brake stability
Cooperative control
Degree of freedom
