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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

马晓军, 王科淯, 张征. 多轮独立电驱动车辆横摆稳定性滑模控制研究[J]. 机械科学与技术, 2021, 40(3): 442-447. doi: 10.13433/j.cnki.1003-8728.20200074
引用本文: 马晓军, 王科淯, 张征. 多轮独立电驱动车辆横摆稳定性滑模控制研究[J]. 机械科学与技术, 2021, 40(3): 442-447. doi: 10.13433/j.cnki.1003-8728.20200074
MA Xiaojun, WANG Keyu, ZHANG Zheng. Sliding Mode Control of Yaw Stability for Multi-wheel Independent Electric Drive Vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(3): 442-447. doi: 10.13433/j.cnki.1003-8728.20200074
Citation: MA Xiaojun, WANG Keyu, ZHANG Zheng. Sliding Mode Control of Yaw Stability for Multi-wheel Independent Electric Drive Vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(3): 442-447. 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
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

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

  • 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。
  • 图  1  车辆运行轨迹

    图  2  横摆角速度偏差

    图  3  质心侧偏角

    图  4  质心侧偏角-质心侧偏角变化率

    图  5  车辆运行轨迹

    图  6  横摆角速度

    图  7  质心侧偏角

    图  8  质心侧偏角-质心侧偏角变化率

    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
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-11-14
  • 刊出日期:  2021-03-01

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