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Four wheel independent drive electric vehicle lateral stability control strategy
IEEE/CAA Journal of Automatica Sinica ( IF 11.8 ) Pub Date : 2020-10-20 , DOI: 10.1109/jas.2019.1911729
Yantao Tian , Xuanhao Cao , Xiaoyu Wang , Yanbo Zhao

In this paper, a kind of lateral stability control strategy is put forward about the four wheel independent drive electric vehicle. The design of control system adopts hierarchical structure. Unlike the previous control strategy, this paper introduces a method which is the combination of sliding mode control and optimal allocation algorithm. According to the driverʼ s operation commands ( steering angle and speed ) , the steady state responses of the sideslip angle and yaw rate are obtained. Based on this, the reference model is built. Upper controller adopts the sliding mode control principle to obtain the desired yawing moment demand. Lower controller is designed to satisfy the desired yawing moment demand by optimal allocation of the tire longitudinal forces. Firstly, the optimization goal is built to minimize the actuator cost. Secondly, the weighted least-square method is used to design the tire longitudinal forces optimization distribution strategy under the constraint conditions of actuator and the friction oval. Beyond that, when the optimal allocation algorithm is not applied, a method of axial load ratio distribution is adopted. Finally, CarSim associated with Simulink simulation experiments are designed under the conditions of different velocities and different pavements. The simulation results show that the control strategy designed in this paper has a good following effect comparing with the reference model and the sideslip angle β is controlled within a small rang at the same time. Beyond that, based on the optimal distribution mode, the electromagnetic torque phase of each wheel can follow the trend of the vertical force of the tire, which shows the effectiveness of the optimal distribution algorithm.

中文翻译:

四轮独立驱动电动汽车横向稳定性控制策略

本文针对四轮独立驱动电动汽车提出了一种横向稳定性控制策略。控制系统的设计采用层次结构。与以前的控制策略不同,本文介绍了一种将滑模控制和最优分配算法相结合的方法。根据驾驶员的操作命令(转向角和速度),获得侧滑角和横摆率的稳态响应。基于此,构建参考模型。上位控制器采用滑模控制原理来获得所需的横摆力矩需求。下控制器设计为通过优化轮胎纵向力的分配来满足期望的横摆力矩要求。首先,建立优化目标以最小化执行器成本。其次,在执行机构和椭圆形摩擦力约束条件下,采用加权最小二乘法设计轮胎纵向力优化分配策略。除此之外,在不采用最优分配算法的情况下,采用了轴向载荷比分布的方法。最后,在不同速度和不同路面条件下设计了与Simulink仿真实验相关的CarSim。仿真结果表明,与参考模型相比,本文设计的控制策略具有良好的跟随效果,同时将侧滑角β控制在很小的范围内。除此之外,基于最佳分配模式,每个车轮的电磁转矩相位都可以跟随轮胎垂直力的趋势,
更新日期:2020-10-27
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