分布式驱动电动汽车直接横摆力分析

分布式驱动电动汽车直接衡摆力分析摘要汽车行业的迅速发展促进了交通的便利和经济的繁荣，与此同时环境污染、石油危机以及交通安全等问题也随之而来。为迎合时代发展潮流，人们开始推广新能源汽车，其中，四轮独立驱动电动汽车的直接横摆力矩稳定性控制技术是热门领域之一。本文首先对四轮毂电动汽车整车模型建模展开分析。在CarSim软件中完成包括对车身、传动、悬架等系统的建模。同时，基于MATLAB,/Simulink搭建四轮毂电机模型和车速控制器，并建立了线性二自由度模型。进而研究车辆的稳定性，选用横摆角速度和质心侧偏角两种评定车辆稳定性的参数作为本文的控制变量，设计了基于滑模控制策略的上层控制器计算附加横摆力矩，并引入模糊控制策略与之比对：下层控制器采用平均分配方法。最后进行高速低附着工况的双移线仿真实验。结果显示，滑模控制系统对横摆角速度和质心侧偏角的跟踪效果最好，对参数峰值的削弱最明显，尤其是工况条件恶劣的情况，模糊控制的效果相较于滑模控制较差，滑模控制下的车辆稳定裕度较高。关键词：分布式驱动，直接横摆力矩控制，滑模控制，平均分配Direct balancing force analysis of distributed driveelectric vehicleAbstractThe rapid development of the automotive industry has promoted the convenience oftransportation and economic prosperity,while environmental pollution,oil crises and traffic safetyproblems have also followed.In order to meet the development trend of the times,people began topromote new energy vehicles,among which the direct pendulum torque stability control technologyof four-wheel independent drive electric vehicles is one of the hot areas.In this thesis,the model of four-wheeled electric vehicle is first analyzed.Completed in Carsimsoftware,including the modeling of the body,transmission,suspension and other systems.At thesame time,based on MATLAB/Simulink,a four-wheel hub motor model and a vehicle speedcontroller were built,and a linear two-degree-of-freedom model was established.In addition,the stability of the vehicle was studied,and the two parameters of evaluating thestability of the vehicle were selected as the control variables of the thesis,and the top controllerbased on the sliding mode control strategy was designed to calculate the additional pendulummoment,and the fuzzy control strategy was introduced to compare it.The underlying controllerrealizes the optimal distribution of four rounds of torque based on the quadratic programmingalgorithm.Finally,the simulation experiment of double-shifting line of high-speed high adhesioncondition and high-speed low attachment limit condition is carried out.The results show that thesliding mode control system has the best tracking effect on the swing angle speed and the center ofmass lateral declination,and the weakening of the peak of the parameters is the most obvious,especially in the case of the harsher the working conditions,the effect of the fuzzy control is poorerthan the sliding mode control,and the vehicle stability margin under the sliding mode control ishigher.Key Words:four-wheel independent drive,Direct Yaw moment Control,hub motor,sliding modecontrol,secondary planning试