重庆理工大学学报（自然科学版）2016，Vol.30Issue(6)：17-25,9.DOI:10.3969/j.issn.1674-8425(z).2016.06.004
四轮独立驱动电动汽车直线行驶稳定协调控制
Coordinated Control for Straight-Line Driving Stability of a Four Wheel Independent Drive Electric Vehicle
摘要
Abstract
In order to reduce the effect on the straight-line driving stability of a four wheel-motor-driven electric vehicle engendered by vertical loads and adhesion road inequality between wheels on both sides,the coordinated control system was designed through analyzing the reasons of vehicle deviation.The required additional yaw moment of correcting vehicle deviation was calculated by sliding model control,and then the voltage regulation values of hub motor for generating the additional yaw moment or anti skid control was distributed coordinately with the motor driving principle and the wheel slip states in the designed system.Simulation was implemented in the 14DOFs vehicle model established by Matlab /Simulink under different operating conditions.Compared with the situations of vehicle deviation in the average allocation of driving without any control,the simulation results show that the yaw of vehicle is in the range of (0 ±0.05°)/s preseted and the straight-line driving stability is improved obviously.关键词
轮毂电机/四轮独立驱动/滑模/协调控制/直线稳定性Key words
hub motor/four wheel independent driving/sliding mode/coordinated control/straight-line stability分类
交通运输引用本文复制引用
黄锡超,江洪,徐兴..四轮独立驱动电动汽车直线行驶稳定协调控制[J].重庆理工大学学报（自然科学版）,2016,30(6):17-25,9.基金项目
江苏省“六大人才高峰”项目 （）
