重庆理工大学学报2025，Vol.39Issue(1)：38-46,9.DOI:10.3969/j.issn.1674-8425(z).2025.01.005
极限工况下分布式驱动电动方程式赛车稳定性控制研究
Stability control of distributed drive electric formula race cars under extreme working conditions
摘要
Abstract
The four-motor distributed-drive electric formula car is prone to instability problems in high-speed cornering or driving on low adhesion coefficient road surfaces.We propose a cross-swing stability control strategy to improve the driving stability of the distributed-drive electric formula car.The control strategy adopts a hierarchical control structure.The upper torque distributor is designed based on the integral sliding mode theory,eliminating the sliding mode automatic vibration by introducing an integral term.A seven-degree-of-freedom vehicle model and a two-degree-of-freedom reference model are built to compute the desired swing angular velocity,the desired center-of-mass lateral deflection angle and the additional swing torque of the car.The lower torque distributor is designed to optimally distribute the driving torques of the four wheels based on the slip rate of the tires so as to improve the car's driving stability.The lower layer is the torque distributor,which optimally distributes the driving torque of the four wheels according to the tire slip rate to improve the car's driving stability.Typical working conditions are selected for simulation experiments.Our results show the driving stability of the distributed-drive electric formula car is significantly improved after our pendulum stability controller is introduced.关键词
分布式驱动/行驶稳定性/积分滑模理论/最优分配Key words
distributed-drive/driving stability/integral sliding mode theory/optimally distributes分类
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李刚,刘泊居,王爽..极限工况下分布式驱动电动方程式赛车稳定性控制研究[J].重庆理工大学学报,2025,39(1):38-46,9.基金项目
辽宁省自然科学基金一般项目(2022-MS-376) （2022-MS-376）
自然科学基金联合基金项目(U22A2043) （U22A2043）
