【摘要】 针对分布式驱动车辆系统非线性的特性,提出一种基于最优转矩矢量控制的车辆侧向稳定性控制系统。首先使用魔术公式轮胎模型实时估计轮胎力,搭建轮胎侧偏刚度变化的非线性车辆模型。接着借鉴近似线性二次型规划的最优控制思想,设计基于质心侧向加速度的增益可调的横摆转矩控制方法,并根据驱动电机峰值转矩和轮胎摩擦圆的约束条件进行转矩矢量分配。最后进行Car Sim和Lab VIEW联合仿真和硬件在环实验。结果表明,控制系统能对车辆进行有效的实时控制,在显著改善车辆稳定性的同时不严重影响车辆的纵向性能。更多还原

【Abstract】 In view of the nonlinearity of distributed drive electric vehicle system,a vehicle lateral stability control system based on optimal torque vectoring control is proposed. Firstly magic formula tire model is used to estimate tire forces in real time,and a nonlinear vehicle model with varying tire lateral stiffness is built. Then by using as a reference the optimal control concept of approximate linear quadratic regulator( LQR),a yaw torque control method with adjustable gain is designed based on the lateral acceleration of mass center,and the torque vectoring allocation is performed according to the constraints of motor peak torque and tire friction cycle. Finally both CarSim/LabVIEW co-simulation and hardware-in-the-loop experiment are carried out. The results show that the control system proposed can effectively fulfill the real-time control on vehicle and significantly improve its stability without greatly deteriorating its longitudinal performance.更多还原