极限工况下分布式驱动电动方程式赛车稳定性控制研究OA北大核心

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.