Coordination Control of Maneuverability and Stability for Four-Wheel-Independent-Drive EV Considering Tire Sideslip
Coordination Control of Maneuverability and Stability for Four-Wheel-Independent-Drive EV Considering Tire Sideslip
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DOI：
10.1109/tte.2022.3159843
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发表时间：
2022
影响因子：
7
通讯作者：
Quantong Li;Jie Zhang;Liang Li;Xiang-yu Wang;Bangji Zhang;Xianyao Ping
中科院分区：
文献类型：
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作者：
Quantong Li;Jie Zhang;Liang Li;Xiang-yu Wang;Bangji Zhang;Xianyao Ping
四轮独立驱动电动汽车可以通过差动扭矩产生主动横摆力矩来改变转向过度或转向不足等转向特性。然而，使用相同的致动器意味着稳定性和灵活性会相互干扰。本文提出了一种协调控制策略，以同时提高车辆的低速灵活性和高速稳定性。首先，分析了车辆转向几何结构和主动横摆力矩下的稳态转向特性。随后，设计了增益调度控制器，根据驾驶员的意图调整偏航率的放大倍数。接下来，应用前馈和增强的滑模控制器来快速跟踪目标运动。由于差速驱动辅助转向（DDAS）和车辆稳定性控制（VSC）系统中执行器的重叠性质，协调策略是基于相平面理论开发的。此外，还提出了一种基于修正极值法的、计算量较小的扭矩分配算法。最后，在相关条件下进行仿真和实验，验证所设计控制策略的有效性和可靠性。结果表明，所提出的策略可以显着提高机动性并确保车辆稳定性。
Four-wheel-independent-drive EV can generate the active yaw moment by the differential torque to change the steering characteristics such as oversteer or understeer. However, the utilization of the same actuators implies that the stability and flexibility will interfere with each other. This paper proposes a coordination control strategy to simultaneously improve the low-speed flexibility and high-speed stability of the vehicle. Firstly, the geometry of the vehicle steering and the steady-state steering characteristics under active yaw moments are analyzed. Subsequently, a gain scheduling controller is designed to adjust the magnification of the yaw rate based on the driver’s intention. Next, a feedforward and an enhanced sliding mode controller is applied to quickly track the target motion. Due to the overlapping nature of the actuators in the differential drive assist steering (DDAS) and vehicle stability control (VSC) system, the coordination strategy is developed based on the phase plane theory. Moreover, a torque distribution algorithm derived from the modified extreme value method with lesser calculation is proposed. Finally, simulations and experiments under relevant conditions are conducted to verify the effectiveness and the reliability of the designed control strategy. The results suggest that the proposed strategy can significantly improve maneuverability and ensure vehicle stability.