Abstract

In order to further improve the handling stability of four-wheel-independent-drive electric vehicle, the control strategy designed in this paper adopts the hierarchical structure. The upper controller uses the vehicle dynamics principle and relevant expert control experience to formulate the corresponding fuzzy control rules to build the fuzzy controller. The linear two-degree-of-freedom reference model is built to obtain the desired driving state information of the vehicle, and the corresponding deviations are obtained by comparing with the actual vehicle state information, which are the input of the designed fuzzy controller to obtain the additional yaw moment required for stable driving of the vehicle. The lower controller obtains the generation mechanism of additional yaw moment through the 7-degree-of-freedom vehicle model and the characteristics of tire friction ellipse. Based on this, the regular distribution strategy is designed to obtain the driving torque on each driving motor. Through Carsim/Simulink joint simulation and hardware-in-the-loop experiments based on MicroAutoBox, the effectiveness and real-time performance of the designed control strategy are fully verified, and accelerate the development process of vehicle controller.

中文翻译：

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四轮独立驱动电动汽车扭矩分配策略设计

摘要

为了进一步提高四轮独立驱动电动汽车的操纵稳定性，本文设计的控制策略采用分级结构。上位控制器利用车辆动力学原理和相关专家控制经验，制定相应的模糊控制规则，构建模糊控制器。建立线性二自由度参考模型，以获得车辆的期望驾驶状态信息，并通过与实际车辆状态信息进行比较获得相应的偏差，这些偏差是设计的模糊控制器的输入，从而获得稳定行驶车辆所需的额外横摆力矩。下位控制器通过7自由度车辆模型和轮胎摩擦椭圆的特性获得附加横摆力矩的生成机理。基于此，设计有规律的分配策略以获得每个驱动电动机上的驱动转矩。通过Carsim / Simulink联合仿真和基于MicroAutoBox的在环硬件实验，充分验证了所设计控制策略的有效性和实时性能，并加速了车辆控制器的开发过程。