考虑乘坐舒适性的纯电动公交车辆稳定性控制

doi:10.3901/JME.2023.10.250

机械工程学报 ›› 2023, Vol. 59 ›› Issue (10): 250-262.doi: 10.3901/JME.2023.10.250

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考虑乘坐舒适性的纯电动公交车辆稳定性控制

赵治国¹, 陈晓蓉¹, 梁凯冲¹, 郭潇然², 李涛^1,2

1. 同济大学汽车学院上海 201804;
2. 郑州宇通客车股份有限公司郑州 450000

收稿日期:2022-09-20 修回日期:2023-03-24 出版日期:2023-05-20 发布日期:2023-07-19
作者简介:赵治国,男,1971 年出生,博士,教授。主要研究方向为车辆动力学控制、混合动力汽车系统集成优化控制及新型传动系统控制。E-mail:zhiguozhao@tongji.edu.cn;陈晓蓉,女,1996年出生。主要研究方向为智能汽车跟踪控制。E-mail:1911059@tongji.edu.cn
基金资助:
国家自然科学基金资助项目(52172390)。

Stability Control Method for the Electric City Bus Considering Riding Comfort

ZHAO Zhiguo¹, CHEN Xiaorong¹, LIANG Kaichong¹, GUO Xiaoran², LI Tao^1,2

1. School of Automotive Studies, Tongji University, Shanghai 201804;
2. Zhengzhou Yutong Bus Co., Ltd., Zhengzhou 450000

Received:2022-09-20 Revised:2023-03-24 Online:2023-05-20 Published:2023-07-19

摘要/Abstract

摘要： 为提高纯电动公交车辆驱动转弯工况下的乘坐舒适性和操纵稳定性,研究相平面内的乘坐舒适性表征,提出一种兼顾乘坐舒适性和稳定性的车辆状态判别方法和控制策略。首先,建立三自由度非线性车辆模型,采用扩展卡尔曼滤波对车辆质心侧偏角进行实时估计;其次,构建不同行驶条件下的车辆质心侧偏角-质心侧偏角速度()相平面稳定区域边界参数数据库,并利用BP神经网络对该数据库进行拟合;之后,将相平面的稳定区域进一步划分为舒适区域和两级非舒适区域,通过设计实车乘坐舒适性试验,利用接受者操作特征曲线(Receiver operating characteristic curve,ROC)分析法确定各区域边界阈值,基于车辆状态判别结果设计稳定性控制策略,对驱动电机输出转矩进行限制;最后,通过TruckSim/Simulink软件联合仿真和实车道路测试对所设计的稳定性控制方法进行验证。结果表明,该稳定性控制算法能够同时监测车辆的乘坐舒适性和稳定性,在车辆失稳前能根据乘坐舒适性等级提前进行驱动转矩控制,在保证公交车辆横向稳定性的同时提升其乘坐舒适性。

关键词: 纯电动公交, 车辆稳定性, 乘坐舒适性, 相平面法, 实车道路试验

Abstract: In order to improve riding comfort and handling stability of electric city bus under driving turns, the study of the characterization of riding comfort in the phase plane is conducted, and a vehicle state discrimination method and control strategy considering both riding comfort and stability are proposed. Firstly, a three-degree-of-freedom nonlinear vehicle model is established, and extended Kalman filter is used to estimate the sideslip angle of the bus in real time. Secondly, the boundary parameter database of the phase plane stability region under different driving conditions is constructed, and use the BP neural network to fit it. Then, the stable region of the phase plane is further divided into comfortable region and two levels of uncomfortable region, the boundary thresholds of each region are determined by the receiver operating characteristic curve(ROC) analysis method through the real vehicle riding comfort test, and a stability control strategy is designed to limit the output torque of the driving motor according to the vehicle state discrimination results. Finally, the stability control method is verified by TruckSim/Simulink co-simulation and real vehicle road test. The results show that the stability control algorithm can simultaneously monitor the riding comfort and stability of the bus, and driving torque control can be carried out in advance according to riding comfort level before vehicle becomes unstable, which improves the riding comfort while ensuring the lateral stability of the bus.

Key words: electric city bus, vehicle stability, riding comfort, phase plane method, real vehicle road test

中图分类号:

U461

赵治国, 陈晓蓉, 梁凯冲, 郭潇然, 李涛. 考虑乘坐舒适性的纯电动公交车辆稳定性控制[J]. 机械工程学报, 2023, 59(10): 250-262.

ZHAO Zhiguo, CHEN Xiaorong, LIANG Kaichong, GUO Xiaoran, LI Tao. Stability Control Method for the Electric City Bus Considering Riding Comfort[J]. Journal of Mechanical Engineering, 2023, 59(10): 250-262.

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考虑乘坐舒适性的纯电动公交车辆稳定性控制

Stability Control Method for the Electric City Bus Considering Riding Comfort

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