测试科学与仪器2023，Vol.14Issue(3)：306-314,9.DOI:10.3969/j.issn.1674-8042.2023.03.007
基于改进指数滑模控制器的分布式驱动电动汽车转矩优化分配策略研究
Optimal torque distribution strategy of DDEV based on enhanced exponential sliding mode controller
摘要
Abstract
A novel direct yaw-moment control scheme is proposed to improve the lateral stability of distributed-drive electric vehicles (DDEV). The scheme adopts a hierarchical control structure that consists of an upper controller and a lower controller. An enhanced sliding mode controller (ESMC) with improved exponential reaching law is designed to calculate the additional yaw-moment to maintain the lateral stability of the vehicle in the upper controller. By adding the function about the sliding mode surface, the approach speed is increased when it is far away from the sliding mode surface, and the approach speed is reduced when it is close to the sliding mode surface, so as to suppress chattering. An optimized method of torque distribution is proposed in the lower controller, which uses a multi-verse optimizer (MVO) to minimize the tire utilization rate as the objective function to calculate the torque and optimally distribute it to each in-wheel motor. The co-simulation of Carsim and Simulink shows that under the conditions of high speed and high-adhesion road, the tracking error of the yaw rate is reduced from 6.4％ to 2.7％, and the sideslip angle is within 0.018 rad; under the conditions of low speed and low-adhesion road, the tracking error of the yaw rate is reduced from 5.2％ to 3.8％, and the sideslip angle is within 0.0085 rad. The proposed strategy has better stability compared with the rule-based distribution strategy.关键词
分布式驱动电动汽车/横向稳定性/滑模控制/多元宇宙优化算法/转矩分配Key words
distributed-drive electric vehicles (DDEV)/lateral stability/sliding mode controller (SMC)/multi-verse optimizer (MVO)/torque distribution引用本文复制引用
黄亚东,武小兰,白志峰..基于改进指数滑模控制器的分布式驱动电动汽车转矩优化分配策略研究[J].测试科学与仪器,2023,14(3):306-314,9.基金项目
National Natural Science Foundation of China(No.51405367) （No.51405367）
