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根据四轮轮毂电机驱动电动汽车驱动/制动力矩独立可控的特点,采用层次化结构的控制分配方法优化分配驱/制动扭矩来提高车辆的操纵稳定性。控制器由运动控制器和控制分配器组成,其中运动控制器根据车辆状态产生所需总的纵向力和横摆力矩,控制分配器优化分配各轮上的驱/制动扭矩,同时考虑了各种执行器的约束条件。仿真结果表明:采用层次化结构的控制分配方法能充分利用了垂直载荷较大的轮胎摩擦圆,提高车辆的操纵稳定性。
According to the characteristic that the driving / braking torque of four-wheel hub motor-driven electric vehicle can be controlled independently, the hierarchical distribution control method is adopted to optimize the distribution driving / braking torque to improve the handling stability of the vehicle. The controller consists of a motion controller and a control distributor, wherein the motion controller generates the desired total longitudinal and yaw moments according to the state of the vehicle, controls the distributor to optimally distribute the drive / braking torque on each wheel, taking into account Actuator constraints. The simulation results show that the control distribution method based on the hierarchical structure can make full use of the tire friction circle with large vertical load to improve the steering stability of the vehicle.