基于MPC的独立驱动电动汽车稳定性集成控制

针对独立驱动电动汽车在高附着系数路面高速急转时易发生侧翻事故，在低附着系数路面急转易发生侧滑失稳事故，且单一控制器在不同附着系数路面适应性较差等问题，根据独立驱动电动汽车特点设计了基于分层式结构的稳定性集成控制器。建立了整车动力学模型，并进行了车辆状态参数估计；设计了稳定性集成控制器的控制策略，对车辆的侧倾、横向稳定性状态判定条件和协调策略的制定进行了研究，分别设计了侧倾稳定性控制器和横向稳定性控制器；设置了路面附着系数0.9到0.2的对接路面仿真工况，并在此工况下对所设计的控制器的控制性能进行了仿真测试。结果表明，所设计的稳定性集成控制器相比于单一控制器具有更好的适应性，可有效降低车辆高速行驶过程中的横向载荷转移系数、质心侧偏角等状态量，提高车辆行驶的稳定性和安全性。

Integrated Stability Control for Independently Driven Electric Vehicles Based on MPC

The vehicle is prone to rollover accidents on the high adhesion coefficient road at high speed, while on the low adhesion coefficient road the vehicle is prone to sideslip instability accidents. Due to the poor adaptability of a single controller for different road adhesion coefficients, the integrated stability controller based on a hierarchical structure is designed according to the characteristics of independently driven electric vehicles. Initially the vehicle dynamics model is established and the vehicle state parameters are estimated.Then the control strategy of the integrated stability controller is designed. The paper studies the conditions for determiniation of vehicle roll and lateral stability states and the coordination strategies between the two types of stability. A roll stability controller and a lateral stability controller are designed respectively. Finally the performance of the designed controller is tested by the simulations in which the road adhesion coefficients from 0.9 to 0.2 are set. The results show that the proposed integrated stability controller has higher adaptability than the single controller. With the proposed controller, the lateral load transfer coefficient and the centrod sideslip angle can be effectively reduced during high-speed driving, and therefore the vehicle stability and safety are improved.