轮毂电机驱动电动汽车侧倾稳定性解耦控制

doi:10.3901/JME.2017.16.094

机械工程学报 ›› 2017, Vol. 53 ›› Issue (16): 94-104.doi: 10.3901/JME.2017.16.094

• 特邀专栏：汽车先进动力系统的设计、优化与控制（下） • 上一篇下一篇

轮毂电机驱动电动汽车侧倾稳定性解耦控制

张利鹏^1,2, 李亮¹, 祁炳楠³

1. 燕山大学车辆与能源学院秦皇岛 066004;
2. 清华大学汽车安全与节能国家重点实验室北京 100084;
3. 燕山大学电气工程学院秦皇岛 066004

收稿日期:2016-09-19 修回日期:2017-02-27 发布日期:2017-08-20
作者简介:张利鹏,男,1979年出生,博士后,副教授。主要研究方向为车辆动力学与控制。E-mail:evzlp@ysu.edu.cn;李亮,男,1991年出生,硕士研究生。主要研究方向为车辆动力学与控制;祁炳楠,女,1981年出生,实验师。主要研究方向为车辆电子控制技术。
基金资助:
国家自然科学基金资助项目（51405259）

Decoupled Roll Stability Control of In-wheel Motor Drive Electric Vehicle

ZHANG Lipeng^1,2, LI Liang¹, QI Bingnan³

1. School of Vehicle and Energy Engineering, Yanshan University, Qinhuangdao 066004;
2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084;
3. School of Electrical Engineering, Yanshan University, Qinhuangdao 066004

Received:2016-09-19 Revised:2017-02-27 Published:2017-08-20

摘要/Abstract

摘要： 基于轮毂电机的力矩主动分配实现电动汽车的侧倾稳定性控制。建立轮毂电机驱动整车虚拟样机模型并通过了试验验证；以横摆角速度和质心侧偏角为状态变量，设计基于模型预测控制的横摆稳定性控制器，以侧倾角速度和侧倾角为状态变量，设计基于反馈最优控制的侧倾稳定性控制器；基于空间运动解耦进行四轮驱动转矩的底层协调分配，在此基础上实现了兼顾整车横摆运动的轮毂电机驱动电动汽车的侧倾稳定性控制。研究表明，轮毂电机驱动具有常规半轴驱动所不具备的整车空间稳定性大强度控制能力，利用所提出的横摆和侧倾运动联合解耦控制方法，可以在保证横摆稳定性的前提下有效控制侧倾运动，从而大幅提高整车的空间稳定性。

关键词: 侧倾稳定性, 电动汽车, 解耦控制, 轮毂电机驱动

Abstract: Roll stability control of in-wheel motors drive electric vehicle is achieved based on the motors torque active distribution. The virtual prototype model of the vehicle is established and the test verification is carried out. Regarding the yaw rate and the side slip angle as the state variables, the controller of yaw motion stability is designed based on the model predictive control theory. Based on the feedback optimal control theory, the controller of roll motion stability is designed regarding the roll angular velocity and the roll angular as the state variables. Based on the decoupling of the vehicle dynamics movement, the four in-wheel motors drive torque is distributed in the bottom layer. On this foundation, the roll stability control of in-wheel motor drive electric vehicle is achieved considering the vehicle yaw motion. The results show that the in-wheel motors drive electric vehicle has high intensity spatial dynamics stability control ability, but the axis drive vehicle doesn't have the ability. Considering the yaw stability control, the vehicle roll motion can be effectively controlled using the decoupling control method with the combination of yaw and roll motion, which can greatly improve the spatial stability of the vehicle.

Key words: decoupling control, electric vehicle, in-wheel motor, roll stability

中图分类号:

U469

张利鹏, 李亮, 祁炳楠. 轮毂电机驱动电动汽车侧倾稳定性解耦控制[J]. 机械工程学报, 2017, 53(16): 94-104.

ZHANG Lipeng, LI Liang, QI Bingnan. Decoupled Roll Stability Control of In-wheel Motor Drive Electric Vehicle[J]. Journal of Mechanical Engineering, 2017, 53(16): 94-104.

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轮毂电机驱动电动汽车侧倾稳定性解耦控制

Decoupled Roll Stability Control of In-wheel Motor Drive Electric Vehicle

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