分布式电动车的线性自抗扰稳定性控制策略

为研究分布式电动车的操纵稳定性控制策略问题，将直接横摆力矩控制器设计为2个一阶线性自抗扰控制器，用于计算车辆维持稳定所需的横摆力矩。在转矩分配方面，根据路面附着和车辆状态调节目标函数的权值，采用二次规划算法计算得到电机输出转矩。应用硬件在环仿真平台进行了正弦迟滞和正弦递增实验，实验结果表明分布式电动车的操纵稳定性控制策略能够提高车辆的操稳性能，使得控制变量能够紧密跟踪期望值。 

Stability Control System of Distributed Drive Electric Vehicles Using Linear Active Disturbance-Rejection Control

An electric vehicle stability control strategy based on hierarchical control strategy was proposed in this paper. The linear active disturbance rejection control (LADRC) was adopted to calculate the desired yaw moment based on the yaw rate and side-slip angle. The right value of objective function was adjusted for control allocation based on vehicle state and road condition. A quadratic programming method was designed to calculate the motor output torque. Finally, the proposed control strategy was validated under the hardware-in-the-loop (HIL). The results show that the variables of the proposed controller can track the target parameter well. Comparing the vehicle under the PID control with no control, the vehicle under the proposed control can improve vehicle stability effectively with good convergence.