基于动态门限值的分布式驱动电动汽车驱动力矩控制研究

为改善分布式驱动电动汽车高速行驶稳定性，避免频繁驱动控制操作对汽车行驶安全性的影响，提出了一种适应不同驾驶工况的参数动态门限值算法，设计了汽车附加横摆力矩滑模控制策略和驱动力矩二次规划优化分配控制策略，并进行了角阶跃输入工况和双正弦输入工况的仿真分析。结果表明，所设计的控制策略能有效控制汽车的质心侧偏角与横摆角速度，在保证汽车行驶稳定性的前提下，使质心侧偏角与理想值偏差减小了3.6%以上，轮胎附着利用率减少19.5%以上，有效地降低了轮胎附着利用率，提高了汽车的行驶安全性。

Dynamic Threshold-Based Drive Torque Control for Distributed Drive Electric Vehicles

In order to improve the high-speed driving stability of distributed drive electric vehicles and avoid the impact of frequent driving control operations on the driving safety of vehicles, this paper proposed a parameter dynamic threshold algorithm that adapted to different driving conditions, and designed the additional yaw moment of the vehicle. The distribution control strategy was optimized using sliding mode control and the quadratic programming for optimal driving torque distribution. Simulations were performed under both angular step input and double sine input conditions. The results show that the designed control strategy can effectively control the side-slip angle and yaw rate of the vehicle''s center of mass. While ensuring vehicle driving stability, the deviation of the center-of-mass side-slip angle from the ideal value is reduced by over 3.6%. The adhesion utilization rate is decreased by more than 19.5%, effectively lowering the tire adhesion utilization, thereby improving the driving safety of the vehicle.