电动轮汽车驱动助力转向与稳定性协调控制

doi:10.3901/JME.2018.16.160

摘要/Abstract

摘要： 电动轮汽车各轮扭矩独立可控，有利于驱动助力转向技术和电子稳定性控制技术的应用，但对于二者相互制约的问题目前并未有相关的研究。旨在提出一种兼顾驱动助力转向性能以及稳定性的协调控制算法，通过协调分配各轮毂电机的转矩，实现整车转向行驶时转向盘助力和稳定性的协调优化控制。依据轮胎的侧偏特性以及轮毂电机的驱动特征得出质心侧偏角和路面附着系数的估算方法。利用滑膜变结构建立稳定性控制，设计助力转向曲线，并引入差动助力系数的修正因子，依照不同的整车姿态和工况设计该因子的模糊控制变化规则，给出整体协调控制的基本流程框架。进行Matlab与Carsim的联合仿真以及实车道路试验验证，结果表明控制器在不同情况下可以适时调节助力系数，在保证整车稳定行驶的前提下，选择保留助力功能或解除助力功能，既保证了整车的稳定性又能合理地根据需求保证驾驶员转向的轻便性。离线仿真及实车试验结果证明了所提出的电动轮汽车驱动助力转向与稳定性协调控制能够有效兼顾整车的稳定性及差动助力性能。

关键词: 电动轮汽车, 驱动助力转向, 稳定性控制, 协调控制

Abstract: The torque of wheels is independent and controllable for in-wheel motor vehicles, which is conductive to the application of DDAS and ESC, but there is no relevant research on the coordinated control between them. Coordinated optimal control of the vehicle assist steering of steering wheel and stability is realized by re-distributing the torque of each in-wheel motors. Based on the side slip property of tire and the driving property of the in-wheel motor, the method of estimating the side slip angle and road adhesion coefficient is obtained. The stability control is established by SMVS. The power-assisted steering curve is designed and the correction factor of DDAS is introduced. Then a fuzzy control rule of the factor is designed according to different vehicle postures and working conditions, on this basis the procedure framework of whole coordinated control is provided. The co-simulation based on MATLAB and Carsim and road testing carry out and demonstrate that the controller can adjust the power-assisted factor timely under different conditions. Under the premise of ensuring the stability of the vehicle, the power-assisted function would be retained or not retained by choice, which ensures not only the stability of the whole vehicle but also the ease of steering as required in a reasonable way. The simulation and road testing results show that the coordinated control which is proposed first time can effectively balance the stability and assist steering performance of the vehicle.

Key words: coordinate control, DDAS, ESC, in-wheel motor vehicles

中图分类号:

U469

靳立强, 田端洋, 刘阅. 电动轮汽车驱动助力转向与稳定性协调控制[J]. 机械工程学报, 2018, 54(16): 160-169.

JIN Liqiang, TIAN Duanyang, LIU Yue. Coordinated Control of DDAS and ESC Systems for Electric Vehicle Driven by In-wheel Motors[J]. Journal of Mechanical Engineering, 2018, 54(16): 160-169.

参考文献

[1] SATO M, YAMAMOTO G, GUN J D, et al.Development of wireless in-wheel motor using magnetic resonance coupling[J]. IEEE Transactions on Power Electronics, 2016, 31(7):5270-5278.
[2] MURATA S. Vehicle dynamics innovation with in-wheel motor[R]. SAE, 2011, 39:1-6.
[3] 余卓平,冯源,熊璐. 分布式驱动电动汽车动力学控制发展现状综述[J]. 机械工程学报, 2013, 49(8):105-114. YU Zhuoping, FENG Yuan, XIONG Lu. Review on vegicle dynamics control of distributed drive electric vehicle[J]. Journal of Mechanical Engineering, 2013,49(8):105-114.
[4] 靳立强,王军年,宋传学,等. 电动轮驱动汽车驱动助力转向技术[J]. 机械工程学报, 2010, 46(14):101-108. JIN Liqiang, WANG Qingnian, SONG Chuanxue, et al. Power steering by driving force for vehicle with motorized wheels[J]. Journal of Mechanical Engineering, 2010, 46(14):101-108.
[5] LI Q, YU X L, ZHANG H, et al. Study on differential assist steering system with double in-wheel motors with intelligent controller[J]. Mathematical Problems in Engineering, 2015(2015-12-21):1-8.
[6] LENG B, XIONG L, JIN C, et al. Differential drive assisted steering control for an in-wheel motor electric vehicle[J]. SAE International Journal of Passenger Cars-Electronic and Electrical Systems, 2015, 8(2):433-441.
[7] WANG R, JING H, HU C, et al. Robust H∞ output-feedback yaw control for in-wheel motor driven electric vehicles with differential steering[J]. Neurocomputing, 2016, 173(P3):676-684.
[8] 陈无畏,孙晓文,汪洪波. 汽车差动助力转向系统的可拓协调控制[J]. 中国科学:技术科学, 2017, 47(3):324-335. CHEN Wuwei, SUN Xiaowen, WANG Hongbo. Extension coordinated control of automotive differential drive assisted steering system. Sci Sin Tech, 2017, 47(3):324-335.
[9] 沈晨. 四轮独立驱动电动汽车差动助力转向系统控制研究[D]. 南京:东南大学, 2016. SHEN Chen. Control of differential drive assisted steering system for electric vehicle with electric motored wheels[D]. Nanjing:Southeast University, 2016.
[10] 余卓平,刘军,熊璐,等.分布式驱动电动汽车操纵性改善控制策略设计[J]. 同济大学学报, 2014, 42(7):1088-1095. YU Zhuoping, LIU Jun, XIONG Lu, et al. Control strategies of handing improvement of distributed drive electric vehicle[J]. Journal of Tongji University, 2014, 42(7):1088-1095.
[11] 卢山峰,徐兴,陈龙,等. 轮毂电机驱动汽车电子差速与差动助力转向的协调控制[J]. 机械工程学报, 2017, 53(16):78-85. LU Shanfeng, XU Xing, CHEN Long, et al. Coordinated control of electronic differential and differential assist steering for electric vehicle driven by in-wheel motors[J]. Journal of Mechanical Engineering, 2017, 53(16):78-85.
[12] 余卓平,姜炜,张立军. 四轮轮毂电机驱动电动汽车扭矩分配控制[J]. 同济大学学报, 2008, 36(8):1115-1119. YU Zhuoping, JIANG Wei, ZHANG lijun. Torque distribution control for four wheel in-wheel-motor electric vehicle[J]. Journal of Tongji University, 2008, 36(8):1115-1119.
[13] REN B, CHEN H, ZHAO H, et al. MPC-based yaw stability control in in-wheel-motored EV via active front steering and motor torque distribution[J]. Mechatronics, 2015, 38:103-114.
[14] 段丙旭.轮毂电机驱动电动汽车的电子稳定控制研究[D]. 长春:吉林大学, 2013. DUAN Bingxu. Study on electronic stability control of in-wheel motor EV[D]. Changchun:Jilin University, 2013.
[15] 王吴杰. 双轮毂电机驱动电动汽车差速与助力转向协调控制研究[D]. 镇江:江苏大学, 2016. WANG Wujie. Coordinated control of differential and assistant steering for electric vehicle driven by dual in-wheel motors[D]. Zhenjiang:Jiangsu University, 2016.
[16] JIN L Q, LIU Y. Study on adaptive slid mode controller for improving handling stability of motorized electric vehicles[J]. Mathematical Problems in Engineering, 2015, 2014(1):1-10.
[17] SHIBAHATA Y, SHIMADA K, TOMARI T. Improvement of vehicle maneuverability by direct yaw moment control[J]. Vehicle System Dynamics, 1992, 22(5-6):465-481.
[18] 周红妮,陶健民.车辆稳定性控制策略研究[J]. 湖北汽车工业学院学报, 2007, 21(1):26-31. ZHOU Hongni, TAO Jianmin. Study on vehicle stability control strategy[J]. Journal of Hubei Automotive Industries Institute, 2007, 21(1):26-31.
[19] 米奇克. 汽车动力学[M]. 4版. 北京:北京大学出版社, 2009. MITSCHKE. Automotive dynamics[M]. 4th ed. Beijing:Peking University Press, 2009.
[20] 刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].武汉:华中科技大学, 2004. LIU Zhao. Research on dynamic analysis and control method of electric power assisted steering system for vehicle[D]. Wuhan:Huazhong University of Science and Technology, 2014.
[21] KO S Y, KO J W, LEE S M, et al. A study on in-wheel motor control to improve vehicle stability using human-in-the-loop simulation[J]. Journal of Power Electronics, 2013, 13(4):536-545.
[22] PACEJKA H, BAKKER E. The magic formula tyre model[J]. Vehicle System Dynamics, 2004, 21(Supp1.):1-18.
[23] 靳立强,王庆年,张缓缓,等. 电动轮驱动电动汽车差速技术研究[J]. 汽车工程, 2007, 29(8):700-704. JIN Liqiang, WANG Qingnian, ZHANG Huanhuan, et al. A study on differential technology of in-wheel motor drive EV[J]. Automotive Engineering, 2007, 29(8):700-704.