四轮轮毂电动汽车横摆角速度自抗扰控制

Active Disturbance Rejection Control for Yaw Rate of Four in-wheel Driven Electric Vehicle

摘要:

汽车的横摆角速度对汽车稳定性和安全性有较大影响,针对汽车行驶控制时的抗干扰能力,目前还没有特别有效的汽车横摆角速度控制策略；创新性设计了基于自抗扰控制理论的用于四轮轮毂电动汽车横摆角速度的高性能控制策略；首先分析了汽车横摆角速度控制的动态模型,并通过数学变换,将其转换为二阶自抗扰控制器被控对象的标准形式；再设计双层控制结构,包括直接横摆力矩制定层和转矩分配层；在直接横摆力矩制定层,利用二阶自抗扰控制器计算出控制汽车横摆角速度所需的附加横摆力矩；在转矩分配层,设计了转矩分配算法,利用附加横摆力矩得到4个车轮的指令转矩,进而控制电动汽车横摆角速度；最后,通过Matlab/Simulink和汽车动力学仿真软件CarSim联合仿真验证了所设计控制策略的有效性。

Abstract:

The yaw rate of vehicle has a great influence on stability and safety. There is no effective control strategy used to restraining the disturbance. This paper focuses on the yaw rate control for four in-wheel independent drive (4WID) electric vehicles. A two layer control model (direct yaw-moment control layer and torque distribution layer) is presented to achieve the high performance control. In the upper layer, A direct yaw-moment controller based on Active Disturbance Rejection Control (ADRC) is built through carefully analyzing the control system. Then the deviation torque is calculated for the purpose of control. In the lower layer, an algorithm is designed to distribute torque to the motor drive systems. In the end, the effectiveness of the controller is examined using a driving simulator system.