余卓平 熊璐 馮源
摘 要:研究分布式驅(qū)動電動汽車直接橫擺力矩控制問題。提出基于狀態(tài)反饋方法的操縱性改善控制策略:利用橫擺角速度反饋改善車輛的橫擺角速度瞬態(tài)響應(yīng),利用轉(zhuǎn)向角前饋提高車輛的穩(wěn)態(tài)橫擺角速度增益。根據(jù)反饋系數(shù)對車輛瞬態(tài)響應(yīng)特性的影響建立優(yōu)化函數(shù),獲取不同車速下最優(yōu)反饋系數(shù)?;谵D(zhuǎn)向助力需求設(shè)計前軸差動轉(zhuǎn)矩約束,再結(jié)合后軸的電動機外特性約束,獲取不同車速下最大前饋系數(shù)。設(shè)計四輪轉(zhuǎn)矩分配策略,在實現(xiàn)直接橫擺力矩控制的同時保證駕駛員的加速意圖。多工況下仿真驗證表明,算法在改善橫擺角速度的瞬態(tài)響應(yīng)和穩(wěn)態(tài)增益的同時可以減少轉(zhuǎn)向盤力矩,降低駕駛員操作負(fù)荷;直接橫擺力矩的引入有效的抑制加速過程中的不足轉(zhuǎn)向,平衡前后軸的側(cè)向附著利用率,提高車輛的側(cè)向穩(wěn)定裕度。
關(guān)鍵詞:分布式驅(qū)動電動汽車 直接橫擺力矩控制 狀態(tài)反饋控制 操縱性改善控制
Abstract: The direct yaw moment control for distributed drive electric vehicle is studied. A handling improvement algorithm based on state variable feedback control is proposed. The yaw rate feedback is employed to improve the transient response of the yaw rate, the steer angle feedforward is employed to increase the steady gain of the yaw rate. According to the feedback coefficient's influence on the transient response, an optimization function is proposed to obtain optimum feedback coefficients under different speeds.
Key Words: Distributed drive electric vehicle;Direct yaw moment control;State variable feedback control;Handling improvement control
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