Motion Control of Electric Vehicles by Distribution Control of Traction Forces
Motion Control of Electric Vehicles by Distribution Control of Traction Forces
复制标题
通过牵引力分配控制电动汽车的运动控制
DOI：
10.1541/ieejias.116.279
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发表时间：
1996
影响因子：
--
通讯作者：
Yuqing Wang
中科院分区：
文献类型：
--
作者：
M. Nagai;Yuqing Wang
提出了一种通过控制驱动/制动力产生的横摆力矩来提高电动汽车操纵稳定性的新方法。横摆力矩通过转向角（和转向速度）的前馈补偿来控制，以最小化车辆重心处的侧滑角。为了实现这种横摆力矩控制，应该独立地控制右驱动/制动力和左驱动/制动力。理论分析和计算机仿真表明了该控制系统的有效性。结果表明，与传统的两轮转向汽车相比，该转向系统的操纵稳定性得到了显著改善，并获得了4 WS等效汽车性能。这种控制的有效性也验证了实验结果，使用缩小的车辆模型上的移动带测试仪。
This paper proposes a new method to improve the handling and stability of electric vehicles by controlling the yaw moment generated by driving/braking forces. Yaw moment is controlled by the feedforward compensation of steering angle (and steering velocity) to minimize the side slip angle at the vehicle center of gravity. To realize this kind of yaw moment control, the right and left driving/braking forces should be controlled independently. Theoretical analysis and computer simulation are carried out to show the effectiveness of this control system. The results show that the handling and stability are improved significantly compared to those of the conventional two-wheel-steering vehicles, and that a 4WS-equivalent vehicle performance is obtained. This control effectiveness is also verified by experimental results using a downsized vehicle model on a moving belt tester.