A Method for 4WD Electric Vehicle Stability Control
-
摘要: 针对车辆质心侧偏角难以测量的问题,采用无迹卡尔曼滤波算法设计了质心侧偏角状态观测器,针对分布式电驱动汽车在加速转向工况下车轮驱动力的优化分配问题,提出一种具有分层结构的控制策略。上层控制策略,以提高控制器对参数不确定和模型误差的鲁棒性,基于滑模鲁棒控制计算期望的主动横摆力矩;下层控制策略,以提高车辆操纵稳定性及轮胎利用率,采用拉格朗日乘子法对轮胎力进行优化分配。在MATLAB/Simulink环境下进行仿真分析,仿真结果验证了该控制方法能够有效地提高车辆操纵稳定性和轮胎的利用率。
-
关键词:
- 稳定性 /
- 鲁棒控制 /
- 拉格朗日 /
- 分配 /
- MATLAB/Simulink
Abstract: It is difficult to measure the sideslip angle, whose observer is designed with the UKF. A hierarchical control strategy was put forward for a distributed drive electric vehicle to control wheel torque when the vehicle was accelerating while swerving. For the upper hierarchical control strategy, a robust sliding mode control was used to calculate the desired yaw moment and to improve the stability caused by model errors and parameter inaccuracy. For the lower hierarchical control strategy, the Lagrange multiplier algorithm was carried out to distribute tire torque and improve vehicle stability and efficiency. The model was simulated with MATLAB/Simulink; the simulation results show that the method can effectively improve vehicle stability and efficiency.-
Key words:
- stability /
- robustness /
- hierarchical control /
- Lagrange multiplier /
- algorithm
-
[1] Chen Y, Wang J M. Design and experimental evaluations on energy efficient control allocation methods for overactuated electric vehicles:longitudinal motion case[J]. IEEE/ASME Transactions on Mechatronics, 2014,19(2):538-548 [2] Li D F, Yu F. A novel integrated vehicle chassis controller coordinating direct yaw moment control and active steering[C]//Proceedings of the 14th Asia Pacific Automotive Engineering Conference. Hollywood, CA, USA:SAE, 2007 [3] 朱绍中,姜炜,余卓平,等.基于控制分配的轮毂电机驱动电动车稳定性控制仿真研究[J].系统仿真学报,2008, 20(18):4840-4842 Zhu S Z, Jiang W, Yu Z P, et al. Stability control of four in-wheel-motor drive electric vehicle by control allocation[J]. Journal of System Simulation, 2008, 20(18):4840-4842(in Chinese) [4] 熊璐,余卓平,姜炜,等.基于纵向力分配的轮边驱动电动汽车稳定性控制[J].同济大学学报(自然科学版),2010,38(3):417-421,426 Xiong L, Yu Z P, Jiang W, et al. Research on vehicle stability control of 4wd electric vehicle based on longitudinal force control allocation[J]. Journal of Tongji University(Natural Science), 2010,38(3):417-421,426(in Chinese) [5] Boada B L, Boada M J L, Diaz V. Fuzzy-logic applied to yaw moment control for vehicle stability[J]. Vehicle System Dynamics, 2005,43(10):753-770 [6] Wang R R, Chen Y, Feng D W, et al. Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors[J]. Journal of Power Sources, 2011,196(8):3962-3971 [7] De Novellis L, Sorniotti A, Gruber P. Wheel torque distribution criteria for electric vehicles with torque-vectoring differentials[J]. IEEE Transactions on Vehicular Technology, 2014,63(4):1593-1602 [8] Nguyen B M, Wang Y F, Oh S, et al. GPS based estimation of vehicle sideslip angle using multi-rate Kalman filter with prediction of course angle measurement residual[C]//Proceedings of the FISITA 2012 World Automative Congress, Lecture Notes in Electrical Engineering. Berlin Heidelberg:Springer, 2013:597-609 [9] Stéphant J, Charara A, Meizel D. Virtual sensor:application to vehicle sideslip angle and transversal forces[J]. IEEE Transaction on Industrial Electronics, 2004,51(2):278-289 [10] Stéphant J, Charara A, Meizel D. Evaluation of a sliding mode observer for vehicle sideslip angle[J]. Control Engineering Practice, 2007,15(7):803-812 [11] 施树明,Lupker H,Bremmer P,等.基于模糊逻辑的车辆侧偏角估计方法[J].汽车工程,2005,27(4):426-430 Shi S M, Lupker H, Bremmer P, et al. Estimation of vehicle side slip angle based on fuzzy logic[J]. Automotive Engineering, 2005,27(4):426-430(in Chinese) [12] Pacejka H B. Tire and vehicle dynamics[M]. 3rd ed. Oxford, UK/Waltham, MA:Butterworth-Heinemann, 2012 [13] 潘泉,杨峰,叶亮,等.一类非线性滤波器-UKF综述[J].控制与决策,2005,20(5):481-489,494 Pan Q, Yang F, Ye L, et al. Survey of a kind of nolinear filters-UKF[J]. Control and Decision, 2005,20(5):481-489,494(in Chinese) [14] Julier S, Uhlmann J, Durrant-Whyte H F. A new method for the nonlinear transformation of means and convariances in filters and estimators[J]. IEEE Transactions on Automatic Control, 2000,45(3):477-482 [15] 杨柏胜,姬红兵.基于无迹卡尔曼滤波的被动多传感器融合跟踪[J].控制与决策,2008,23(4):460-463 Yang B S, Ji H B. Multi-passive-sensor fusion tracking based on unscented Kalman filer[J]. Control and Decision, 2008,23(4):460-463(in Chinese) [16] Rajamani R. Vehicle dynamics and control[M]. Wang G Y, Jiang F C, trans. Beijing:Machinery Industry Press, 2011
点击查看大图
计量
- 文章访问数: 349
- HTML全文浏览量: 40
- PDF下载量: 115
- 被引次数: 0