多轮独立电驱动车辆横摆稳定性滑模控制研究

马晓军; 王科淯; 张征

doi:10.13433/j.cnki.1003-8728.20200074

多轮独立电驱动车辆横摆稳定性滑模控制研究

doi: 10.13433/j.cnki.1003-8728.20200074

中国人民解放军陆军装甲兵学院兵器与控制系, 北京 100072

详细信息

作者简介:
马晓军(1963-), 教授, 博士生导师, 研究方向为电传动系统、炮控系统, 2113818721@qq.com

中图分类号: TJ81
计量
- 文章访问数: 119
- HTML全文浏览量: 12
- PDF下载量: 26
- 被引次数: 0
出版历程
- 收稿日期: 2019-11-14
- 刊出日期: 2021-03-01

Sliding Mode Control of Yaw Stability for Multi-wheel Independent Electric Drive Vehicle

Weapon and Control Department, Army Academy of Armored Forces PLA, Beijing 100072, China

摘要

摘要: 以某型多轮独立电驱动车辆为研究对象，针对车辆稳定性问题，提出了基于横摆角速度和质心侧偏角联合控制的横摆力矩滑模控制方法。控制器采用分层控制结构，控制器上层基于滑模控制理论，首先分别独立控制质心侧偏角和横摆角速度，分别得出附加力矩目标值，而后加权求和得到附加横摆力矩目标值，其中加权函数能够动态反映车辆行驶状态；控制器下层考虑电机输出约束和地面附着约束进行力矩优化分配。实验仿真结果表明, 相比经典PID控制方法，上述控制方法有效提高了车辆的稳定性。
- 电动车辆 /
- 轮毂电机 /
- 行驶控制 /
- 滑模控制 /
- 横摆稳定性
Abstract: A sliding mode control method of yaw moment based on the combined control of yaw rate and side slip angle was proposed to solve the problem of vehicle yaw stability for a type of multi-wheel independent electric vehicles. The controller was designed in a hierarchical structure. Firstly, based on the sliding mode control theory, the upper controllers controlled the yaw rate and side slip angle respectively, and the target value of the additional yaw-moment was obtained. Then, we used weighted summation of out-up of two parts to get the final target of the additional yaw-moment. Finally, the lower controller adopted motor output constraint and ground adhesion constraint to optimize torque distribution. The simulation test results showed that the sliding mode control method can effectively improve the yaw stability of the vehicle compared with the classical PID control method.
- multi-wheel electric vehicle /
- motors /
- yaw-moment control /
- sliding mode control /
- yaw stability

HTML全文

图 1 车辆运行轨迹

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图 2 横摆角速度偏差

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图 3 质心侧偏角

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图 4 质心侧偏角-质心侧偏角变化率

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图 5 车辆运行轨迹

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图 6 横摆角速度

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图 7 质心侧偏角

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图 8 质心侧偏角-质心侧偏角变化率

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表 1 车辆及电机驱动系统部分参数

参数名称	数值
整车质量/kg	23 000
驱动方式	8轮独立驱动
轮毂电机类型	永磁同步电机
车身长/宽/高/轮距/m	7.8/2.9/2/2.6
桥间距(1-2/2-3/3-4)/m	1.1/1.8/1.9
轮毂电机额定功率/kW	90
轮毂电机峰值功率/kW	110
峰值转矩/(N·m)	1 100
最高转速/(r·min^-1)	6 000
方向盘最大转角/(°)	900

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参考文献(15)

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