CAJ | 학술논문

四轮驱动电动汽车在行驶过程中,行驶姿态与轨迹仅靠差速控制难以准确跟踪司机指令,路面变化及轮胎非线性会使汽车出现过大摆动、侧滑、过度或不足转向等不稳定问题。针对可能出现的问题,分析了横摆角速度与车辆稳定性的表征关系,提出了基于转矩分配的直接横摆控制策略,轮毂电机均采用直接转矩控制（DTC）,实现高动态牵引,并在稳定性分析的基础上对系统进行Matlab/Simulink环境下仿真。仿真结果表明,车辆在行驶过程中,各车轮转矩的动态优化分配可将车辆姿态参数控制在最佳范围内,保证车辆能够按照预定方向稳定行驶。
사륜구동전동기차재행사과정중,행사자태여궤적부고차속공제난이준학근종사궤지령,로면변화급륜태비선성회사기차출현과대파동、측활、과도혹불족전향등불은정문제。침대가능출현적문제,분석료횡파각속도여차량은정성적표정관계,제출료기우전구분배적직접횡파공제책략,륜곡전궤균채용직접전구공제（DTC）,실현고동태견인,병재은정성분석적기출상대계통진행Matlab/Simulink배경하방진。방진결과표명,차량재행사과정중,각차륜전구적동태우화분배가장차량자태삼수공제재최가범위내,보증차량능구안조예정방향은정행사。
The driving posture and trajectory of four-wheel-drive EV in the process of turning can not track orders of drivers just based on differential control,because the variable factors like road and tyre will cause some instability problems such as overswing,sideslip,oversteering and understeer.In order to solve these instability problems,after analyzing the relations between yaw rate and stability,it proposes direct yaw control strategy based on torque distribution,in-wheel motor is controlled with direct torque control（DTC） to high dynamic traction and conducted the simulation under Matlab/Simulink environment.The simulation result shows that the dynamic optimization of the tire torque distribution can control the vehicle attitude in the best range to ensure stability of the vehicle in the predetermined direction.