【摘要】 针对四轮独立驱动电动汽车直线行驶跑偏及行驶稳定性问题,提出驱动转矩协调控制策略。该策略采用分层控制逻辑,上层控制逻辑层负责车速跟随控制、附加横摆力矩计算、驱动防滑控制;下层控制逻辑层负责驱动转矩协调分配。基于车辆动力学软件Carsim和MATLAB/Simulink搭建四轮独立驱动电动汽车协调控制系统仿真模型,在高附着、低附着和对开路面等典型工况进行仿真,结果表明,相比于转矩平均分配及无控制,协调控制策略使车辆横摆角速度保持在0±0.05(°)/s,且车轮滑转率控制在最优滑转率范围内,提高了车辆直驶稳定性。更多还原

【Abstract】 The driving torque coordinated control strategy is put forward to analyze the problem of four-wheel independent drive electric vehicle straight deviation and driving stability. The strategy adopts hierarchical control logic,and the upper control layer is responsible for speed following control,additional yaw moment calculation and anti-slip-regulation control.The lower control layer is responsible for the coordinated allocation of driving torque. The four-wheel independent drive electric vehicle coordinate control system model was established based on vehicle dynamics software Carsim and MATLAB/Simulink,Simulation was implemented under three typical conditions:the high adhesion road and the low adhesion road and the split road,Compared with the simulation of average allocation of driving torque without any control,the vehicle yaw rate maintains at 0±0.05(°)/s,and the wheel slip rate is controlled in the range of optimal slip rate under coordinated control strategy,the vehicle straight driving stability is improved.更多还原