重庆理工大学学报2025，Vol.39Issue(1)：12-18,7.DOI:10.3969/j.issn.1674-8425(z).2025.01.002
分布式驱动独立转向电动汽车四轮转向与直接横摆力矩集成控制研究
Research on four-wheel steering and direct transverse torque integration control for distributed-drive independent-steering electric vehicles
摘要
Abstract
Since the four wheels of distributed-drive independent-steering electric vehicles can be controlled individually,we propose a four-wheel steering and direct cross-swinging torque integrated control strategy considering the tire loading rate to improve the driving stability while ensuring the stability margin of tires.The specific control structure adopts hierarchical control.The upper sliding mode controller integrates the control of the rear wheel steering angle and additional pendulum torque according to the deviation of the ideal center of mass side deviation angle and ideal pendulum angular velocity from the actual value.The lower torque distribution controller realizes the optimal distribution of torque by considering the tire loading rate and the vertical load and using the equational constraints to bring in the objective function method.The front-wheel sinusoidal steering condition and double-shift line condition are selected.Then,the integrated control strategy of four-wheel steering and direct swinging moment is verified in the joint simulation platform of CarSim and Simulink.Our results show the layered controller effectively improves the driving stability of distributed-drive independent-steering electric vehicles.关键词
分布式驱动/四轮转向/横摆力矩/集成控制Key words
distributed driver/four-wheel steering/yaw moment/integrated control分类
交通运输引用本文复制引用
左昊,葛平淑,王阳,张涛..分布式驱动独立转向电动汽车四轮转向与直接横摆力矩集成控制研究[J].重庆理工大学学报,2025,39(1):12-18,7.基金项目
国家自然科学基金项目(52175078) （52175078）
