摘要
为了提升电动汽车转向工况下的转向机动性能,保障电动汽车的行驶稳定性,研究电动汽车转向工况下的转矩分配控制技术.依据电动汽车转向工况下整车动力学模型,利用滑模变结构确定电动汽车的横摆力矩值;考虑电动汽车的横向力与纵向力受地面附着约束,构建电动汽车转矩分配目标函数,通过求解目标函数获取电动汽车的转矩分配结果;结合粒子群优化算法与PID控制器设计在线参数自学习的控制器,控制目标为电动汽车实际运行转矩与转矩分配结果差异最小.试验结果表明,该技术可以实现电动汽车转向工况下的转矩分配,控制电动汽车各车轮的滑移率低于0.3%.
In order to enhance the steering mobility performance of electric vehicles in steering conditions and ensure the driving stability of electric vehicles,the torque distribution control technology of electric vehicles under steering conditions was studied.Based on the vehicle dynamics model under steering conditions,the yaw moment of electric vehicle is determined using a sliding mode variable structure.Considering the constraints of ground adhesion on the transverse and longitudinal forces of electric vehicles,an objective function of torque distribution is constructed,and the torque distribution results are obtained by solving this objective function.Based on the torque distribution results,and in conjunction with the particle swarm optimization algorithm and PID controller,an online parameter self-learning controller is designed to minimize the difference between the actual operating torque of the electric vehicles and the torque distribution results.The experimental results demonstrate that this technology can achieve torque distribution for electric vehicles under steering conditions,and control the slip rate of each wheel to below 0.3%.
作者
漆在林
QI Zailin(Hunan Traffic Engineering Institute,Hengyang 421009,China)
出处
《南京工程学院学报（自然科学版）》
2023年第3期66-71,共6页
Journal of Nanjing Institute of Technology(Natural Science Edition)
关键词
转向工况
电动汽车
转矩分配
粒子群优化
动力学模型
PID控制器
steering condition
electric vehicles
torque distribution
particle swarm optimization
dynamic model
PID controller
