余卓平 熊璐 馮源
摘 要:研究分布式驅動電動汽車直接橫擺力矩控制問題。提出基于狀態反饋方法的操縱性改善控制策略:利用橫擺角速度反饋改善車輛的橫擺角速度瞬態響應,利用轉向角前饋提高車輛的穩態橫擺角速度增益。根據反饋系數對車輛瞬態響應特性的影響建立優化函數,獲取不同車速下最優反饋系數。基于轉向助力需求設計前軸差動轉矩約束,再結合后軸的電動機外特性約束,獲取不同車速下最大前饋系數。設計四輪轉矩分配策略,在實現直接橫擺力矩控制的同時保證駕駛員的加速意圖。多工況下仿真驗證表明,算法在改善橫擺角速度的瞬態響應和穩態增益的同時可以減少轉向盤力矩,降低駕駛員操作負荷;直接橫擺力矩的引入有效的抑制加速過程中的不足轉向,平衡前后軸的側向附著利用率,提高車輛的側向穩定裕度。
關鍵詞:分布式驅動電動汽車 直接橫擺力矩控制 狀態反饋控制 操縱性改善控制
Abstract: The direct yaw moment control for distributed drive electric vehicle is studied. A handling improvement algorithm based on state variable feedback control is proposed. The yaw rate feedback is employed to improve the transient response of the yaw rate, the steer angle feedforward is employed to increase the steady gain of the yaw rate. According to the feedback coefficient's influence on the transient response, an optimization function is proposed to obtain optimum feedback coefficients under different speeds.
Key Words: Distributed drive electric vehicle;Direct yaw moment control;State variable feedback control;Handling improvement control
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