重庆理工大学学报2024，Vol.38Issue(5)：55-63,9.DOI:10.3969/j.issn.1674-8425(z).2024.03.006
机械弹性电动轮驱动车辆横摆稳定性协调控制
Yaw stability coordinated control of mechanical elastic electric wheeldrive vehicles
摘要
Abstract
To address the yaw stability control of vehicles matched with mechanical elastic electric wheel ( MEEW) , this paper proposes a coordinated stability control strategy of active front steering ( AFS) and direct yaw moment control ( DYC) . To correct the front-wheel angle input during vehicle driving, an AFS controller is designed on the basis of differential flatness and RBF neural network, thereby improving the vehicle steering ability. Meanwhile, as the AFS controller is prone to failure under extreme conditions, a direct yaw moment control algorithm based on linear quadratic regulator ( LQR) is introduced, and the four-wheel torques are allocated according to the axle-load ratio. Finally, the stability domain is divided by means of the sideslip angle-slip angle rate phase portrait of MEEW to realize the coordinated control of AFS and DYC. Our joint simulations of Matlab/Simulink and Carsim show the proposed AFS control algorithm performs well in stability control under high-speed and high-adhesion conditions, and its performance is affected by extreme conditions of high velocity and low adhesion. However, the AFS/DYC coordinated control scheme performs better, and the tracking effectiveness is superior to single controller. The maximum tracking errors of side slip angle and yaw rate are 3. 03° and 1. 82 (°)/s respectively, achieving vehicle yaw stability under extreme steering conditions.关键词
机械弹性电动轮/主动前轮转向/RBF神经网络/直接横摆力矩控制/协调控制Key words
mechanical elastic electric wheel/active front steering/RBF neural network/direct yaw moment control/coordinated control分类
交通工程引用本文复制引用
李田,赵又群,林棻,徐涛,李丹阳..机械弹性电动轮驱动车辆横摆稳定性协调控制[J].重庆理工大学学报,2024,38(5):55-63,9.基金项目
国家自然科学基金项目(52272397,11672127) （52272397,11672127）
南京航空航天大学科研与实践创新计划项目(xcxjh20220211) （xcxjh20220211）
中央高校基本科研业务费专项资金资助项目(NP2022408) （NP2022408）
高机动防暴车辆技术国家工程实验室开放基金项目(B20210017) （B20210017）
