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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part D. Journal of Automobile Engineering >Improvement in the vehicle stability of distributed-drive electric vehicles based on integrated model-matching control
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Improvement in the vehicle stability of distributed-drive electric vehicles based on integrated model-matching control

机译：基于集成模型匹配控制的分布式驱动电动车辆的车辆稳定性提高

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摘要

This paper presents a vehicle dynamic stability controller for distributed-drive electric vehicles. A hierarchical control structure is adopted for the proposed controller. An upper controller is designed on the basis of integrated model-matching control. It consists of a feedforward component plus a feedback component to calculate the desired external yaw moment to achieve the desired vehicle motion. The feedforward control aims at compensating the effect caused by the variation in the linear cornering stiffnesses of the tyres during the life cycle of the tyres. It provides a rapid response under common driving conditions. The linear cornering stiffnesses of the tyres are estimated in real time by the adaptive forgetting-factor recursive least-squares method. Since many vehicle parameters have strongly non-linear and time-varying characteristics, adaptive sliding mode control is used as the feedback component to make the controller robust against systematic uncertainties. To combine the outputs of feedforward and feedback together and to avoid probable conflict, a weight gain coefficient is obtained. Additionally, a conventional sliding-mode controller is introduced as a comparative upper control strategy. The lower controller is utilized to allocate the required yaw moment and traction to the four independent motors, taking into account the tyre grip margins. Simulations for a low-g manoeuvre and a high-g manoeuvre are carried out to evaluate the proposed control algorithm. The results show that the proposed vehicle stability controller can significantly stabilize the vehicle motion and greatly reduce the driver's workload in comparison with with the conventional sliding-mode controller.
机译：本文介绍了用于分布式驱动电动车辆的车辆动态稳定控制器。采用提出的控制器采用分层控制结构。上控制器是在集成模型匹配控制的基础上设计的。它包括前馈组件以及反馈组件来计算所需的外部横摆力矩以实现所需的车辆运动。前馈控制旨在补偿由轮胎的寿命期间轮胎的线性转弯刚度的变化引起的效果。它在常见的驾驶条件下提供了快速反应。通过自适应遗忘因子递归最小二乘法实时估计轮胎的线性转弯刚度。由于许多车辆参数具有强烈的非线性和时变特性，因此自适应滑模控制用作反馈部件，以使控制器稳健地防止系统的不确定性。为了将馈电和反馈的输出结合在一起并避免可能的冲突，获得权重增益系数。另外，将传统的滑模控制器作为比较的上控制策略引入。较低的控制器用于将所需的偏航力矩和牵引力分配给四个独立电机，考虑到轮胎握持边距。进行低G机动和高G机动的模拟，以评估所提出的控制算法。结果表明，与传统的滑模控制器相比，所提出的车辆稳定控制器可以显着稳定车辆运动并大大减少驾驶员的工作量。

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