山东理工大学学报（自然科学版）
山東理工大學學報（自然科學版）
산동리공대학학보（자연과학판）
JOURNAL OF SHANDONG UNIVERSITY OF TECHNOLOGY(SCIENCE AND TECHNOLOGY)
2014年
6期
44-50,54
,共8页
四轮独立驱动%转向稳定性%质心侧偏角%横摆角速度%滑模控制理论%模糊控制理论
四輪獨立驅動%轉嚮穩定性%質心側偏角%橫襬角速度%滑模控製理論%模糊控製理論
사륜독립구동%전향은정성%질심측편각%횡파각속도%활모공제이론%모호공제이론
four-wheel-independent-driven electric vehicle%steering stability%side-slip angle at center of gravity%yaw angular velocity%the theory of sliding mode control%the theory of fuzzy control
针对四轮独立驱动电动汽车转向稳定性的横摆力矩控制问题，建立了七自由度整车模型和Dugoff轮胎模型。基于滑模控制理论，选择质心侧偏角和横摆角速度两者为联合控制变量，并以汽车车速和路面附着系数为输入，运用模糊控制理论确定联合控制变量的联合控制参数，设计了四轮独立驱动电动汽车转向稳定性的横摆力矩控制策略。在M atlab／Simulink环境下选取不同车速、不同路面附着系数进行了连续转向行驶和突然转向行驶的仿真分析。结果表明，所设计的控制策略能够将质心侧偏角和横摆角速度控制在稳定范围内，使车辆在任意转向行驶工况下保持稳定，最大限度地提高轮毂电动汽车的转向稳定性。
針對四輪獨立驅動電動汽車轉嚮穩定性的橫襬力矩控製問題，建立瞭七自由度整車模型和Dugoff輪胎模型。基于滑模控製理論，選擇質心側偏角和橫襬角速度兩者為聯閤控製變量，併以汽車車速和路麵附著繫數為輸入，運用模糊控製理論確定聯閤控製變量的聯閤控製參數，設計瞭四輪獨立驅動電動汽車轉嚮穩定性的橫襬力矩控製策略。在M atlab／Simulink環境下選取不同車速、不同路麵附著繫數進行瞭連續轉嚮行駛和突然轉嚮行駛的倣真分析。結果錶明，所設計的控製策略能夠將質心側偏角和橫襬角速度控製在穩定範圍內，使車輛在任意轉嚮行駛工況下保持穩定，最大限度地提高輪轂電動汽車的轉嚮穩定性。
침대사륜독립구동전동기차전향은정성적횡파력구공제문제，건립료칠자유도정차모형화Dugoff륜태모형。기우활모공제이론，선택질심측편각화횡파각속도량자위연합공제변량，병이기차차속화로면부착계수위수입，운용모호공제이론학정연합공제변량적연합공제삼수，설계료사륜독립구동전동기차전향은정성적횡파력구공제책략。재M atlab／Simulink배경하선취불동차속、불동로면부착계수진행료련속전향행사화돌연전향행사적방진분석。결과표명，소설계적공제책략능구장질심측편각화횡파각속도공제재은정범위내，사차량재임의전향행사공황하보지은정，최대한도지제고륜곡전동기차적전향은정성。
The seven degree of freedom vehicle model and Dugoff tire model were set up based on the yawing moment control of steering stability for four‐wheel‐independent‐driven electric vehi‐cle .Based on the theory of sliding mode control ,we chose side‐slip angle and yaw angular velocity as the joint control variables ,and used the theory of fuzzy control with the vehicle speed and road adhesion coefficient for the input to determine the joint control parameters ,and designed the ya‐wing moment control strategy of steering stability for four‐wheel‐independent‐driven electric ve‐hicle .T hen w e did the simulation analysis of continuous steering driving and sudden steering driv‐ing in different vehicle speed and different road adhesion coefficient .T he simulation results show that the designed control strategy maintains side‐slip angle and yaw angular velocity within the scope of the stability ,makes the vehicle remain stable in any condition of steering driving ,and maximizes steering stability for electric vehicle driven by hub motors .
