Robust Gain Scheduling Control of a Distributed Drive Electric Vehicle
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摘要: 研究了当车速以及轮胎刚度变化时的分布式驱动电动汽车的操控稳定性问题。针对时变的纵向速度，建立了以车速为调度变量的线性变参数(LPV)模型并设计了鲁棒增益调度控制器以保证车辆的性能。考虑到轮胎的非线性，提出了一种模糊融合策略，利用估计的车辆滑移角对控制器的输出进行加权，以使其更好地适应轮胎的变化并能够实时调整其控制变量权重。仿真结果表明，该策略可以在车速变化和轮胎侧偏刚度非线性的情况下有效地改善车辆性能。Abstract: The handling stability of a four-hub-motor independent drive electric vehicle is investigated while the vehicle speed and tire cornering stiffness change. To deal with the time-varying longitudinal speed, a linear parameter varying (LPV) model that uses the vehicle speed as the scheduling variable is built. Based on this, a robust gain scheduled controller is designed to ensure the vehicle safety. Besides, considering the nonlinearity of tire, a controller scheduling strategy is presented; the controller output is weighted by the estimated vehicle slip angle to adapt better to the change of tire cornering stiffness and adjust its control variable in real time. The simulation results show that the scheduling strategy can effectively improve the vehicle performance while the vehicle speed and nonlinear tire cornering stiffness change.
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表 1 控制器对比
名称 RGS1 RGS2 适用范围 小侧向加速度 大侧向加速度 质心侧偏角大小 小 大 前后轮胎刚度模型 高 低 控制变量 以横摆为主 以质心为主 频域调节函数 
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