Research on Torque Control of Four-wheel Driving EV based on Adaptive Disturbance Rejection Algorithm
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摘要: 针对分布式驱动电动汽车动力学模型参数非线性扰动影响转矩控制的问题，提出一种新的转矩自适应分层控制方法。建立四轮独立驱动电动汽车二自由度车辆动力学模型及车辆期望动力学模型，设计线性二次型最优控制器实现车辆对理想二自由度模型横摆稳定性参数的跟踪控制，计算出主动附加横摆控制力矩。针对车辆动力学模型参数扰动情况，基于李雅普诺夫稳定性理论，运用自适应控制算法提升线性二次型最优控制器的自适应能力，减小控制对象参数变动造成的控制偏差。搭建CarSim与MATLAB/ Simulink联合仿真平台验证了该方法的有效性。仿真实验表明，所设计自适应抗扰转矩控制器可有效提升四轮独立驱动电动汽车的横摆稳定性。Abstract: Aiming at the problem that nonlinear parameter disturbance of dynamic model often affects torque control stability of distributed drive electric vehicle, a new torque adaptive hierarchical control method is proposed in this paper. Firstly, the two degree of freedom vehicle dynamical model and the expected vehicle dynamical model of four-wheel independent drive electric vehicle are established. Then, the linear optimal quadratic controller is designed to realize the tracking control of the yaw stability parameters of the ideal two degree of freedom model, and the active additional yaw control moment is calculated. Aiming at the problem of vehicle dynamic model parameter disturbance, based on Lyapunov stability theory, adaptive control algorithm is used to improve the adaptive ability of linear optimal quadratic controller and reduce the control deviation caused by the change of control object parameters. Finally, the co-simulation platform of CarSim and MATLAB / Simulink is built to verify the effectiveness of the method. Simulation results show that the designed adaptive disturbance rejection torque controller can effectively improve the yaw stability of four-wheel independent drive electric vehicle.
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表 1 整车动力学模型关键参数
δf ΔM 两左车轮 两右车轮 δf＞0，左转 顺时针 Tlf增大；Tlt增大 Trf减小；Trr减小 δf＞0，左转 逆时针 Tlf减小；Tlt减小 Trf增大；Trr增大 δf＜0，右转 顺时针 Tlf增大；Tlt增大 Trf减小；Trr减小 δf＜0，右转 逆时针 Tlf减小；Tlt减小 Trf增大；Trr增大 
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表 2 整车动力学模型关键参数
参数 数值 整车质量 1110 kg 整车质心高度 0.54 m 质心至前轴距离 1.04 m 质心至前轴距离 1.56 m 整车绕z轴的转动惯量 1 343.1 kg·m2 前后轴距 2.6 m 前轮轮距 1.695 m 后轮轮距 1.695 m 车轮有效滚动半径 0.298 m 车轮转动惯量 1.2 kg·m2
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