轮毂电机驱动汽车差动助力转向与横摆稳定性协调控制OA北大核心CSTPCD

Differential power steering system produces additional yaw moment when steering power is applied,which affects the stability of vehicle maneuvering and requires comprehensive coordinated control.This paper proposes an exponential differential drive assist steering characteristic curve for hub motor driven vehicles and a control strategy for the differential drive assist steering system.Based on the principle of hierarchical control,a coordinated control strategy for differential assistance and yaw stability is designed.The upper controller employs the fuzzy PID principle to calculate the yaw torque while the lower controller adjusts the front wheel drive torque according to the differential steering requirements.The rear wheel drive torque is adjusted according to the yaw stability requirements so that the torque distribution of the four wheels could meet the requirements of yaw stability.Our simulation results show compared with the no-control,the coordinated control of the dual-shifted line under high-speed conditions reduces the lateral displacement by 0.46 m while compared with the individual differential power steering control,the lateral displacement is reduced by 0.89 m.Compared with the differential power steering control alone,the center-of-mass side deflection is reduced by 0.005 rad and the pendulum angular velocity is down by 0.006 rad/s.The coordinated control's lateral displacement,its sideslip angle and the maximum deviation of its yaw rate all decrease under other experimental conditions.Our results demonstrate the coordinated strategy improves the vehicles' yaw stability.