基于能量法的分布式驱动电动汽车防侧翻控制

doi:10.3901/JME.2019.22.183

机械工程学报 ›› 2019, Vol. 55 ›› Issue (22): 183-192.doi: 10.3901/JME.2019.22.183

• 主动安全控制技术 • 上一篇

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基于能量法的分布式驱动电动汽车防侧翻控制

祁炳楠¹, 王胜², 张思龙³, 任晨辉², 张利鹏²

1. 燕山大学电气工程学院秦皇岛 066004;
2. 燕山大学河北省特种运载装备重点实验室秦皇岛 066004;
3. 北京航空航天大学交通科学与工程学院北京 100191

收稿日期:2019-08-24 修回日期:2019-10-22 出版日期:2019-11-20 发布日期:2020-02-29
通讯作者: 张利鹏(通信作者),男,1979年出生,博士,教授。主要研究方向为智能车辆动力学与控制、新能源汽车复合传动、驾驶员认知与人机共驾。E-mail:evzlp@ysu.edu.cn
作者简介:祁炳楠,女,1981年出生,实验师。主要研究方向为新能源汽车驱动控制;王胜,男,1994年出生,硕士研究生。主要研究方向为智能车辆动力学与控制;张思龙,男,1993年出生,博士研究生。主要研究方向为智能车辆动力学与控制;任晨辉,男,1996年出生,硕士研究生。主要研究方向为智能车辆动力学与控制。
基金资助:
国家自然科学基金资助项目（51775478）。

Anti-rollover Control of Distributed Drive Electric Vehicle Based on Energy Method

QI Bingnan¹, WANG Sheng², ZHANG Silong³, REN Chenhui², ZHANG Lipeng²

1. School of Electrical Engineering, Yanshan University, Qinhuangdao 066004;
2. Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004;
3. School of Transportation Science and Engineering, Beihang University, Beijing 100191

Received:2019-08-24 Revised:2019-10-22 Online:2019-11-20 Published:2020-02-29

摘要/Abstract

摘要： 分布式驱动电动汽车具有优越的侧倾稳定性控制功能，但基于横向载荷转移率评价进行控制并不能充分发挥其技术优势。为提升该类车型恶劣工况下的防侧翻控制能力，针对当前侧翻评价指标的不足，开展基于能量转化评价的稳定性控制研究。针对该类车型的结构特点，建立车辆系统坐标系，借助欧拉旋转角法推导了整车在侧翻运动过程中动能、势能和耗散能的表达方程；通过计算车辆失稳能量阈值与车辆实时失稳能量，提出综合多因素的车辆稳定性评价指标；基于侧翻动力学模型设计出防侧翻滑模控制器；通过在分布式驱动系统力矩阈值范围内开展基于驱动轮力矩分配的差动驱动，实现了整车的防侧翻控制。研究表明，基于能量法制定的空间失稳评价指标相较于横向载荷转移率而言，更能准确、灵敏地反映整车侧倾运动状态的变化趋势，基于其设计的防侧翻控制方法通过主动分配两侧驱动力矩，削弱了相关能量转化，有效抑制了整车侧倾运动，显著提高了侧倾稳定性。

关键词: 电动汽车, 分布式驱动, 能量转化, 侧倾稳定性, 防侧翻控制

Abstract: Distributed drive electric vehicles have superior roll stability control functions, but the control method based on lateral load transfer rate evaluation does not fully exploit its technical advantages. In order to improve the spatial stability of distributed drive electric vehicles under severe conditions, aiming at the shortcomings of the current rollover evaluation index, the spatial stability control based on energy conversion evaluation is carried out. Aiming at the structural characteristics of distributed drive electric vehicle, the vehicle system coordinate is established firstly, and the expressions of kinetic energy, potential energy and dissipated energy are derived by means of Euler rotation angle method. By calculating the vehicle instability energy threshold and the vehicle real-time instability energy, a comprehensive multi-factor vehicle stability evaluation index is proposed. The design of an anti-rollover controller based on sliding mode control theory through rollover model is developed. Finally, based on the differential drive with wheels drive torque distribution in the range of electric motors drive torque, the anti-rollover control s is realized. It is shown that the spatial instability evaluation index based on the energy method can more accurately and sensitively reflect the change trend of the vehicle roll motion state compared with the lateral load transfer rate, and the anti-rollover control based on its design is active. The distribution of the driving torque on both sides weakens the related energy conversion, suppresses the vehicle roll motion and improves the roll stability.

Key words: electric vehicle, distributed drive, energy conversion, roll stability, anti-rollover control

中图分类号:

U461

祁炳楠, 王胜, 张思龙, 任晨辉, 张利鹏. 基于能量法的分布式驱动电动汽车防侧翻控制[J]. 机械工程学报, 2019, 55(22): 183-192.

QI Bingnan, WANG Sheng, ZHANG Silong, REN Chenhui, ZHANG Lipeng. Anti-rollover Control of Distributed Drive Electric Vehicle Based on Energy Method[J]. Journal of Mechanical Engineering, 2019, 55(22): 183-192.

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基于能量法的分布式驱动电动汽车防侧翻控制

Anti-rollover Control of Distributed Drive Electric Vehicle Based on Energy Method

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