南京理工大学学报（自然科学版）2019，Vol.43Issue(5)：622-631,10.DOI:10.14177/j.cnki.32-1397n.2019.43.05.012
后轮独立驱动电动汽车横摆稳定性控制研究
Research on yaw stability control of rear axle independent drive electric vehicle
摘要
Abstract
In order to improve the yaw stability of the rear axle independent driving electric vehicle,a direct yaw moment control strategy is proposed in this paper,the yaw rate and the sideslip angle are taken as the control variables,and the driving force of the driving axle is used as the execution force. The direct yaw moment control strategy includes the yaw moment decision layer and the torque distri-bution layer. The upper layer of the control strategy is yaw moment decision layer,which uses the sliding mode control theory,and the lower layer is torque distribution layer which adopts the optimal control theory. For nonlinear systems,both control accuracy and response speed can be guaranteed. Based on the vehicle system dynamics,a simplified vehicle dynamics model including linear vehicle reference model and nonlinear vehicle computing model is established. The Matlab/Simulink-Carsim joint simulation platform is built,and the control strategy proposed in this paper is simulated and verified by the snake test condition and the double line shift test condition. The results show that the proposed control strategy can ensure the stability of the vehicle yaw and avoid the driving safety problem caused by the reduction of the longitudinal speed when the braking force is used as the yaw moment. Finally,the A&D5435 semi-physical simulation platform is used to build a pure electric vehicle hardware-in-the-loop test platform to verify the effect of the proposed control strategy.关键词
后轮独立驱动电动汽车/横摆稳定性/直接横摆力矩控制/滑模控制Key words
rear axle independent driving electric vehicle/yaw stability/direct yaw moment control/sliding mode control分类
交通工程引用本文复制引用
赵轩,叶毅铭,余曼,魏敬东..后轮独立驱动电动汽车横摆稳定性控制研究[J].南京理工大学学报（自然科学版）,2019,43(5):622-631,10.基金项目
国家重点研发计划项目(2017YFC0803904) （2017YFC0803904）
国家自然科学基金(51507013) （51507013）
中国博士后基金(2018T111006 （）
2017M613034) （）
陕西省博士后基金(2017BSHEDZZ36) （2017BSHEDZZ36）
陕西省重点产业创新链(群)项目(2018ZDCXL-GY-05-03-01) （群）
陕西省重点研发计划(2018ZDXM-GY-082) （2018ZDXM-GY-082）
陕西省创新人才推进计划-青年科技新星项目(2018KJXX-005) （2018KJXX-005）
