电动汽车直接横摆力矩与驱动防滑集成控制策略研究

针对四轮独立驱动电动汽车驱动工况下的横摆稳定性控制,提出一种直接横摆力矩(DYC)与驱动防滑(ASR)集成控制策略,基于模糊PID控制理论,采用前馈加反馈方法,分别对总纵向力矩和单个车轮力矩进行修正,实现驱动防滑,基于最优控制理论对驱动力矩进行分配,采用PID控制理论结合转向状态对制动力矩进行分配。仿真结果表明,本文提出的控制策略可将滑转率偏差控制在0.02以内,与载荷分配相比,横摆角速度和质心侧偏角控制效果分别提高了80%和50%。

Research on DYC/ASR Integrated Control Strategy of Electric Vehicle

A DYC/ASR integrated control strategy is proposed for the yaw stability control under the driving condition of the four-wheel independent drive electric vehicle. Based on the fuzzy PID control theory, the feedforward and feedback method are used to modify the total longitudinal torque and the single wheel torque respectively, for acceleration slip regulation. The driving torque is distributed based on the optimal control theory, and PID control theory is combined with the steering state to allocate the braking torque. The simulation results show that the deviation of wheel slip rate is controlled within 0.02 by the proposed control strategy. Compared with load distribution, yaw velocity and side slip angle control effect are improved by 80% and 50% respectively.