轮毂电机驱动汽车横摆侧倾稳定性联合控制

为提高电动汽车的空间稳定性，开展基于轮毂电机和主动悬架的整车横摆-侧倾运动联合控制.分析了轮毂电机差动驱动联合主动悬架控制对车身横摆-侧倾运动的影响，制定了空间稳定性协同控制策略.以横摆角速度和质心侧偏角为状态变量，设计了基于参考模型的横摆稳定性控制器；以方向盘转角和侧向加速度为状态变量，设计了基于主动悬架侧倾抑制的前馈控制器；以侧倾角速度和侧倾角为状态变量，设计了基于反馈最优控制的侧倾稳定性控制器.建立了四轮驱动转矩和主动悬架力/力矩协调分配规则，通过联合仿真验证了控制策略的有效性.研究表明，轮毂电机差动驱动具有横摆稳定性控制能力和一定的侧倾辅助控制效果，联合主动悬架控制可以改善车辆的横摆-侧倾运动状态，大幅提高整车的空间稳定性.

Roll and Yaw Stability Joint Control of In-Wheel Motors Drive Electric Vehicle

In order to improve the space stability of electric vehicle, a synergetic control was proposed for the yaw-roll motion control based on in-wheel motors and active suspensions. Firstly, analyzing the influence of in-wheel motors differential drive combined with active suspensions control on the yaw-roll motion of the vehicle body, a space stability control strategy was established. Then, taking the yaw rate and the slip angle as state variables, the yaw stability controller based on reference model was designed. Taking the steering wheel angle and lateral acceleration as the state variables, a feedforward controller based on roll restraining of the active suspension was designed. Taking the roll rate and roll angle as state variables, the roll stability controller based on feedback optimal control was designed. Finally, the four-wheel drive torque and active suspension force/torque coordination allocation rules were established, and the effectiveness of control strategies was verified by co-simulation. The research results show that, the differential driving of in-wheel motors can provide yaw stability control and roll assist control capability. Combined with the active suspension control, in-wheel motors driving can improve the vehicle yaw-roll motion state and greatly improve the space stability.