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A BP-PID controller-based multi-model control system for lateral stability of distributed drive electric vehicle

机译：基于BP-PID控制器的多模型控制系统，用于分布式驱动电动汽车的侧向稳定性

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摘要

The lateral stability is the crucial feature in a distributed drive electronic vehicle (DDEV). A high speed DDEV in a sharp turn may lose the lateral stability when it encounters fast varied road adhesion coefficients. To solve this problem, a BP-PID controller-based multi-model control system (MMCS) is designed for DDEV via direct yaw-moment control (DYC) in this paper. Firstly, according to the varied road adhesion coefficients, the working circumstance of DDEV is summarized as seven kinds of typical types. A sub-model set is established to accurately describe the operating mode of the working circumstance. Secondly, based on the sub-model set, a nonlinear sub-controller set is constructed with seven off-line tuning BP-PID controllers and an on-line tuning one. The off-line tuning controller can fast calculate the required direct yaw-moment, and the on-line tuning controller is aimed to achieve a high control accuracy. Thirdly, a controller switching policy is composed of an error judgement policy and a model matching policy. Such switching policy is utilized to precisely identify the working circumstance of DDEV and implement switching control. Finally, simulation experiments prove that the designed MMCS shows a significant control performance and guarantees the lateral stability of DDEV under varied road adhesion coefficients. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
机译：横向稳定性是分布式驱动电子车辆（DDEV）的关键特征。当高速DDEV遇到快速变化的道路附着系数时，可能会失去横向稳定性。为了解决这个问题，本文设计了一种基于BP-PID控制器的多模型控制系统（MMCS），该系统通过直接偏航力矩控制（DYC）进行DDEV控制。首先，根据路面附着系数的变化，将DDEV的工作环境归纳为七种典型类型。建立子模型集以准确描述工作环境的操作模式。其次，基于子模型集，构造了一个非线性子控制器集，其中包含七个离线调整的BP-PID控制器和一个在线调整的控制器。离线调谐控制器可以快速计算出所需的直接偏航力矩，而在线调谐控制器旨在实现高控制精度。第三，控制器切换策略由错误判断策略和模型匹配策略组成。这种切换策略被用来精确地识别DDEV的工作环境并实现切换控制。最后，仿真实验表明，所设计的MMCS具有显着的控制性能，并在变化的路面附着系数下保证了DDEV的横向稳定性。 （C）2019富兰克林研究所。由Elsevier Ltd.出版。保留所有权利。

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  • 来源
    《Journal of the Franklin Institute》 |2019年第13期|7290-7311|共22页
  • 作者

    Huang Guoming; Yuan Xiaofang; Shi Ke; Wu Xiru;

  • 作者单位

    Hunan Univ Coll Elect & Informat Engn Changsha 410082 Hunan Peoples R China;

    Hunan Univ Coll Elect & Informat Engn Changsha 410082 Hunan Peoples R China|Guilin Univ Elect Technol Coll & Univ Key Lab Intelligent Integrated Automa Guilin 541004 Peoples R China;

    Guilin Univ Elect Technol Coll & Univ Key Lab Intelligent Integrated Automa Guilin 541004 Peoples R China;

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