具有差速约束的轮边电驱动汽车横摆稳定控制方法研究

项目名称： 具有差速约束的轮边电驱动汽车横摆稳定控制方法研究

项目编号： No.61304135

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 周洪亮

作者单位： 哈尔滨工业大学

项目金额： 23万元

中文摘要： 轮边电驱动是新能源汽车重点研究的驱动结构，横摆稳定控制是提高其行驶安全性的主动安全控制方法之一。不同于传统燃油汽车，轮边电驱动汽车转向时需通过控制器保证左、右车轮转速满足转向差速条件，而在现有横摆稳定控制文献中对此并未考虑，因此本项目通过将转向差速条件处理为时变约束研究横摆稳定控制方法，控制驱动扭矩，调节汽车转向状态。首先根据实车测试和仿真数据、汽车动力学关系研究汽车转向差速约束及其它横摆稳定控制相关的约束问题；进而，建立面向控制的横摆动态模型，分析模型中的不确定性，设计满足差速约束的横摆稳定控制器；并且，为了使控制器适用于复杂路况，研究车轮所处路面附着系数估计方法。为了解决上述工程问题，提炼出两个控制领域科学问题，即具有约束和不确定性的非线性控制器设计问题和基于数据的参数辨识问题。因此，本项目的研究兼具工程意义和理论意义。

中文关键词： 轮毂驱动汽车；参数辨识；驱动防滑控制；横摆稳定控制；轨迹跟踪控制

英文摘要： In-wheel motor structure is an important driving structure for new energy vehicle and yaw stability control is one of active safety control methods to enhance vehicle safety. Unlike traditional fuel vehicle, the controller of in-wheel motor vehicle must maintain the speed differential condition of left and right wheels in cornering situation, which is not considered in references of yaw stabibility control. Therefore, a yaw stability controller is designed in the project, which is to adjust vehicle states through controlling wheel driving torque and taking speed differential codition as time-varying constraint. Firstly, the cornering speed differential constraint and other constraints relating to vehicle yaw stability control are deduced from data in experiments and simulations and analysis of vehicle dynamics. Then, a vehicle yaw dynamics model for control are abstracted and the uncertainties in the model are analyzed. After that, the yaw stability controller meeting speed differential constraint is designed. Meanwhile, in order to make the controller applicable in different roads, the road adhesion coefficient under wheel is estimated. To solve the above engineering problems, two scientific problems of control theory are abstracted, which are control problem with constraints and uncertainties, and parameter id

英文关键词： in-wheel motor-drive vehicle；parameter identification；traction control；yaw stability control；tracking control