| 基于纵向力分配的轮边驱动电动汽车稳定性控制 |
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| 引用本文： | 熊璐,余卓平,姜炜,蒋造云.基于纵向力分配的轮边驱动电动汽车稳定性控制[J].同济大学学报(自然科学版),2010,38(3):417-421. |
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| 作者姓名： | 熊璐 余卓平 姜炜 蒋造云 |
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| 作者单位： | 同济大学,汽车学院,上海,201804 |
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| 基金项目： | 国家"八六三"高技术研究发展计划资助项目，上海市优秀学科带头人计划资助项目 |
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| 摘 要： | 采用层次化整车稳定性控制方法和加权二乘法优化分配算法,通过纵向力在约束范围内的合理分配形成直接横摆力矩,改善车辆的行驶姿态.实车试验结果显示,控制器根据各轮状态实现了四轮纵向力有效分配,车辆横摆角速度能够很好地跟踪参考横摆角速度;通过控制,降低了车辆横摆角速度与侧向加速度,提高了车辆的操纵稳定性.
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| 关 键 词： | 四驱电动汽车 稳定性控制 纵向力分配 控制分配 加权最小二乘法 |
| 收稿时间： | 2009/3/12 0:00:00 |
| 修稿时间： | 2010/1/19 0:00:00 |
Research on Vehicle Stability Control of 4WD Electric Vehicle Based on Longitudinal Force Control Allocation |
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| XIONG Lu,YU Zhuoping,JIANG Wei and JIANG Zaoyun.Research on Vehicle Stability Control of 4WD Electric Vehicle Based on Longitudinal Force Control Allocation[J].Journal of Tongji University(Natural Science),2010,38(3):417-421. |
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| Authors: | XIONG Lu YU Zhuoping JIANG Wei and JIANG Zaoyun |
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| Institution: | XIONG Lu,YU Zhuoping,JIANG Wei,JIANG Zaoyun (College of Automotive Studies,Tongji University,Shanghai 201804,China) |
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| Abstract: | A vehicle stability control based on hierarchical control approach was introduced.Through the Weighted Least-Squares(WLS) control allocation algorithm,the longitudinal force of each tire(motor torque) was distributed considering the constraints to form the direct yaw moment.The experiment results show the respective longitudinal force of the four wheels has been effectively distributed according to the status of each wheel.And also the vehicle's yaw rate can follow the reference yaw rate excellently.The veh... |
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| Keywords: | 4WD electric vehicle stability control longitudinal force distribution control allocation weighted least-squares (WLS) |
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