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中文摘要：
研究分布式驱动电动汽车操纵稳定性控制问题.基于模型跟踪控制的思想,采用分层控制结构设计控制器.控制器包含参考模型、运动跟踪控制器、控制分配器、参数估计模块.采用带质心侧偏角约束的2自由度车辆模型作为参考模型,设计非线性滑模变结构运动跟踪控制器;针对过驱动系统引入控制分配理论,采用二次规划法设计控制分配器,利用有效集方法进行求解;设计相关动力学参量的估计模块.利用实车平台对稳定性策略进行实车验证,双移线试验与蛇形绕桩试验结果表明：滑模变结构控制器具有较好的收敛性,控制分配模块可以实现四轮纵向力的优化分配,车辆横摆角速度能够较好地跟踪参考横摆角速度.相比无控制车辆,提高平均通过车速,提高平均峰值横摆角速度响应,增加车辆在极限工况下的稳定性.
英文摘要：
The handing and stability of the distributed electric drive vehicle are studied. The controller with hierarchical structure is developed based on model following control theory. The controller contains reference model, motion tracking controller, control allocator and parameter estimation. Vehicle model of two degree of freedom with the vehicle side slip angle limitation is used as reference model. The nonlinear motiun-tracking controller with sliding mode control principle is designed. Control allocation is introduced to the over-actuated system. Quadratic programming method with active set solving is designed. The kinetic parameter estimation module is studied. The controller is tested under a real vehicle platform, the results of double lane changed experiment and slalom experiment show： the sliding mode controller has good convergence; the control allocator can achieve the optimal allocation of four longitudinal tire forces; the vehicle yaw rate could track the reference yaw rate well. Compares to the uncontrolled vehicle, the vehicle under control could have high average speed and high average yaw rate, which increases the vehicle stability under extreme conditions.
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Vehicle dynamics control of four inwheel motor drive electric vehicle using gain scheduling based on
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