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首页> 外文期刊>Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility >Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation
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Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation

机译：基于轮胎转弯刚度估计的增益调度的四轮电动机驱动电动汽车的车辆动力学控制

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摘要

This paper focuses on the vehicle dynamic control system for a four in-wheel motor drive electric vehicle, aiming at improving vehicle stability under critical driving conditions. The vehicle dynamics controller is composed of three modules, i.e. motion following control, control allocation and vehicle state estimation. Considering the strong nonlinearity of the tyres under critical driving conditions, the yaw motion of the vehicle is regulated by gain scheduling control based on the linear quadratic regulator theory. The feed-forward and feedback gains of the controller are updated in real-time by online estimation of the tyre cornering stiffness, so as to ensure the control robustness against environmental disturbances as well as parameter uncertainty. The control allocation module allocates the calculated generalised force requirements to each in-wheel motor based on quadratic programming theory while taking the tyre longitudinal/lateral force coupling characteristic into consideration. Simulations under a variety of driving conditions are carried out to verify the control algorithm. Simulation results indicate that the proposed vehicle stability controller can effectively stabilise the vehicle motion under critical driving conditions.View full textDownload full textKeywordsin-wheel motor drive electric vehicle, vehicle dynamics control, gain scheduling control, control allocation, tyre cornering stiffness estimationRelated var addthis_config = { ui_cobrand: "Taylor & Francis Online", services_compact: "citeulike,netvibes,twitter,technorati,delicious,linkedin,facebook,stumbleupon,digg,google,more", pubid: "ra-4dff56cd6bb1830b" }; var addthis_config = {"data_track_addressbar":true,"ui_click":true}; Add to shortlist Link Permalink http://dx.doi.org/10.1080/00423114.2012.663921
机译：本文着重于四轮电动机驱动电动汽车的车辆动态控制系统，旨在提高关键驾驶条件下的车辆稳定性。车辆动力学控制器由三个模块组成，即运动跟随控制，控制分配和车辆状态估计。考虑到轮胎在关键驾驶条件下的强烈非线性，通过基于线性二次调节器理论的增益调度控制来调节车辆的偏航运动。控制器的前馈和反馈增益通过在线估算轮胎的转弯刚度进行实时更新，从而确保了针对环境干扰以及参数不确定性的控制鲁棒性。控制分配模块在考虑轮胎纵向/横向力耦合特性的基础上，基于二次编程理论将计算出的广义力需求分配给每个轮毂电机。在各种驾驶条件下进行仿真以验证控制算法。仿真结果表明，所提出的车辆稳定性控制器能够在关键驾驶条件下有效地稳定车辆的运动。查看全文下载全文关键词轮毂电动机驱动电动汽车，车辆动力学控制，增益调度控制，控制分配，轮胎转弯刚度估算相关变量var addthis_config = {ui_cobrand：“ Taylor＆Francis Online”，servicescompact：“ citeulike，netvibes，twitter，technorati，delicious，linkedin，facebook，stumbleupon，digg，google，更多”，发布：“ ra-4dff56cd6bb1830b”}； var addthis_config = {“ data_track_addressbar”：true，“ ui_click”：true};添加到候选列表链接永久链接http://dx.doi.org/10.1080/00423114.2012.663921

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