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

doi:10.3901/JME.2019.22.183

Abstract

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

CLC Number:

U461

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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