重庆理工大学学报2025，Vol.39Issue(1)：55-61,7.DOI:10.3969/j.issn.1674-8425(z).2025.01.007
电驱动汽车横摆稳定性自适应积分终端滑模控制
Adaptive integral terminal sliding mode control for transverse yaw stability of electric vehicles
摘要
Abstract
To improve the yaw stability of a distributed-drive electric vehicle,we design a direct yaw control strategy based on adaptive integral terminal sliding mode control through a hierarchical control approach.The upper level of the control strategy is designed as an adaptive integral terminal sliding-mode controller to compute the target additional cross-swing torque.The lower level of the control strategy,with the optimization objective of minimizing the tire adhesion utilization,is designed by employing a quadratic programming control algorithm to create an optimized torque distribution controller.The effectiveness of the controller is simulated and verified by Matlab-CarSim co-simulation.Our results show under the high adhesion coefficient road surface,the peak center of mass lateral deflection of the vehicle with adaptive integral terminal sliding mode controller decreases by 17.1%and 1.7%,and the peak sway angular velocity is down by 13.7%and 3.4%compared with those of the uncontrolled and integral sliding modecontrolled vehicles.Under low adhesion coefficient road surface,the peak center of mass lateral deflection decreases by 69%and 39.4%and the peak sway angular velocity is down by 16%and 2.4%compared with those of the uncontrolled and integral sliding mode controlled vehicles,improving the electric vehicles'stability and driving safety.关键词
分布式电驱动/横摆稳定性/自适应积分终端滑模/二次规划Key words
distributed-drive electric vehicle/yaw stability/adaptive integral terminal sliding mode/quadratic programming分类
交通运输引用本文复制引用
高伟,杨成源,邓召文..电驱动汽车横摆稳定性自适应积分终端滑模控制[J].重庆理工大学学报,2025,39(1):55-61,7.基金项目
湖北省自然科学基金项目(2023AFB985) （2023AFB985）
