电动汽车
汽车工程
控制理论(社会学)
电动机驱动
扭矩
直接转矩控制
临界制动
动态制动
转矩电动机
工程类
计算机科学
电动机控制
电子稳定控制
控制(管理)
电动机
电子差速器
感应电动机
缓速器
电气工程
电压
功率(物理)
物理
机械工程
方向盘
神经科学
生物
人工智能
热力学
量子力学
作者
Li Zhai,Tianmin Sun,Jie Wang
出处
期刊:IEEE Transactions on Vehicular Technology
[Institute of Electrical and Electronics Engineers]
日期:2016-06-01
卷期号:65 (6): 4726-4739
被引量:228
标识
DOI:10.1109/tvt.2016.2526663
摘要
An electronic stability control (ESC) algorithm is proposed for a four in-wheel motor independent-drive electric vehicle (4MIDEV) utilizing motor driving and regenerative braking torque distribution control to improve vehicle stability. A stability judgment controller, an upper level controller, and a torque distribution algorithm are designed for the ESC system. The stability judgment controller is designed to generate the desired yaw rate and sideslip angle for vehicle stability, and the control mode, which is normal driving mode or ESC mode, is set according to the driver inputs and measurement signal inputs. The upper level controller consists of a speed tracking controller, a yaw moment controller, and four wheel-slip controllers to calculate the desired value of traction force, the desired value of yaw moment, and the four respective net torque inputs of the four in-wheel motors. The torque distribution algorithm is designed to generate each motor driving torque or regenerative braking torque input for each wheel. An average torque distribution strategy, a tire-dynamic-load-based torque distribution strategy, and a minimum-objective-function-based optimal torque distribution strategy are used separately in the torque distribution algorithm to control the motor driving torque or regenerative braking torque for vehicle stability enhancement. The proposed ESC algorithm was implemented and evaluated in a CarSim vehicle model and a MATLAB/Simulink control model. The three proposed torque distribution strategies can be used to regulate the vehicle to perform the following tasks: “single lane change,” “double lane change,” and “snake lane change.” The simulation studies show that the yaw rate error root mean square [RMS $(\gamma-\gamma_\mathrm{-des})$ ] decreased, on average, by 75 percent using the proposed optimal torque distribution algorithm compared with that without using stability control.
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