中国机械工程2025，Vol.36Issue(5)：1123-1131,9.DOI:10.3969/j.issn.1004-132X.2025.05.024
基于非线性模型预测控制的分布式驱动电动汽车多目标扭矩协调控制
Multi-objective Torque Coordination Control for Distributed Drive Electric Vehicles Based on Nonlinear MPC
摘要
Abstract
The control objectives for yaw stability in current distributed drive electric vehicles were relatively simplistic.To address this issue,a multi-objective torque coordination control strategy was proposed based on nonlinear MPC.The upper-level controller was a nonlinear MPC speed and yaw moment controller based on a 7-degree-of-freedom vehicle model.And the lower-level controller fo-cused on both of achieving stability and economic efficiency through multi-objective torque coordina-tion.The road adhesion utilization and hub motor power loss were considered in the objective function to achieve dynamic and coordinated distribution of torques.Finally,using the CarSim/Simulink joint simulation platform,the proposed method was compared with traditional control methods under the double lane change conditions and driving cycle conditions for low adhesion coefficient.The simulation results indicate that the proposed control strategy enables better tracking of the vehicle's sideslip angle and yaw rate to their ideal values,thereby enhancing vehicle stability compared to that of conventional methods.Additionally,motor energy loss is reduced and vehicle economic efficiency is improved.关键词
分布式驱动电动汽车/横摆稳定性/扭矩协调/经济性/模型预测控制(MPC)Key words
distributed drive electric vehicle/yaw stability/torque coordination/economic effi-ciency/model predictive control(MPC)分类
交通工程引用本文复制引用
阚小博,赵又群,李丹阳,林棻,何鲲鹏,尤庆伸..基于非线性模型预测控制的分布式驱动电动汽车多目标扭矩协调控制[J].中国机械工程,2025,36(5):1123-1131,9.基金项目
国家自然科学基金(52472411,52272397) （52472411,52272397）
芜湖市重点研发与成果转化项目(2023yf010) （2023yf010）
南京航空航天大学研究生科研与实践创新计划(xcxjh20240205) （xcxjh20240205）
