现代制造工程Issue(10)：54-58,5.DOI:10.16731/j.cnki.1671-3133.2017.10.010
四轮独驱电动车主动转向与横摆力矩集成控制
Study on active steering and yaw moment integrated control for four-wheel independent drive electric vehicle
摘要
Abstract
For the active steering and yaw moment integrated control for four-wheel independent drive electric vehicle ,the inte-grated control method is studied based on the optimum control theory .The vehicle integrated control structure is determined .The integrated controller is designed based on the optimum control theory .The drive forces distribution are designed by using the rule allocation method taking the advantage of that the four wheel drive torque are controlled independently .The integrated controller outputs the additional steering wheel angle and the additional yaw moment value based on the difference between the actual yaw rate and the ideal yaw rate and the difference between the actual side slip angle and ideal side slip angle ,which is necessary to ensure the vehicle driving stability .The additional steering wheel angle is attached directly to the steering wheel .The additional yaw moment is distributed by driving forces distributor .The typical work condition is chosen and the control method is verified based on the driving simulator hardware in the loop test bench .The results show that the integrated control can make the vehicle follow the expected value and improve the vehicle driving stability effectively .关键词
四轮独立驱动电动车/主动转向/横摆力矩/集成控制/最优控制Key words
four-wheel independent drive electric vehicle/active steering/yaw moment/integrated control/ooptimum control分类
机械制造引用本文复制引用
李刚,赵德阳,雷永强,马高峰..四轮独驱电动车主动转向与横摆力矩集成控制[J].现代制造工程,2017,(10):54-58,5.基金项目
国家自然科学基金面上项目(51675257) （51675257）
青年基金项目(51305190) （51305190）
辽宁省重大科技平台项目(JP2016003) （JP2016003）
