【摘要】 为提升轮毂电动机分布式驱动汽车横向稳定性，提出一种主动前轮转向控制(AFS)和直接横摆力矩控制(DYC)协调控制策略.基于二自由度理论模型，采用滑模控制理论设计了主动前轮转向系统，从而修正前轮转角；以维持车辆稳定性行驶为目标，基于模型预测控制设计直接横摆力矩控制器，并以轮胎负荷最小化为目标分配四轮转矩；基于相平面分析，实现主动前轮转向控制器和直接横摆力矩控制器之间的协调控制.结果表明：双移线工况下，协调控制车辆的横摆角速度与其期望值的最大误差仅有12.8%,与AFS、DYC单独控制相比，质心侧偏角峰值分别降低3.80%和9.40%;正弦迟滞工况下，协调控制车辆的横摆角速度与其期望值的最大误差为15.1%,与AFS、DYC单独控制相比，质心侧偏角峰值分别降低61.40%和64.01%;所提出的协调控制策略提高了车辆操纵稳定性，且在保持车辆稳定行驶的同时，对纵向车速干预更小，能更好地保持车速，具有更好的驾驶舒适性.更多还原

【Abstract】 The coordinated control strategy of active front-wheel steering(AFS) and direct yaw moment control(DYC) was proposed to enhance the lateral stability of in-wheel motor distributed drive vehicles. Based on the two-degree-of-freedom theoretical model, the AFS system was designed using sliding mode control to correct the front wheel steering angle, while the DYC controller was developed based on model predictive control(MPC) with the objective of maintaining vehicle stability and minimizing tire load through optimal torque distribution across all four wheels. The coordination between AFS and DYC controllers was achieved by the phase-plane analysis. The results show that under the double lane-change maneuver, the maximum error between vehicle yaw rate and desired value is only 12.8%, and the peak sideslip angles are reduced by 3.80% and 9.40% compared to those of AFS-only and DYC-only control, respectively. Under the sinusoidal lag maneuver, the maximum yaw rate error is 15.1%, and the peak sideslip angles are reduced by 61.40% and 64.01% compared to those of AFS-only and DYC-only control, respectively. The proposed strategy significantly improves the vehicle handling stability and exerts less intervention on longitudinal speed with better speed maintenance and improved driving comfort.更多还原