To improve the handling stability of a distributed rear-drive electric bus under steering conditions,a dual layer electronic differential control strategy was proposed.The upper layer control strategy was based on the vehicle reference model and actual state parameters,targeting the center of mass lateral deflection angle and yaw rate as the control objectives,and the additional yaw moment was calculated using a fuzzy PI control-ler.The lower control strategy first took the vertical load ratio of the driving wheel as the basis for driving force distribution,and then allocated the additional yaw moment,determined in the upper control layer,to the wheel side motor.Considering that the maximum torque provided by the actual motor was limited,motor se-lection was carried out to determine the torque range for the output of the electronic differential control strate-gy.A joint simulation environment was built in Simulink and Trucksim to verify the reliability of this strategy.The results indicated that under double lane change conditions,compared to the equal torque distribution stra-tegy,the electronic differential control strategy reduced the maximum center of mass lateral deflection angle by 69.8％and the maximum yaw rate by 8.2％during steering wheel rotation.Under the steering wheel angle step conditions,this control strategy could reduce the center of mass lateral deflection angle by 83.7％and the yaw rate by 9.4％compared to the equal torque distribution strategy.
关键词
电子差速控制/分布式后驱电动客车/操纵稳定性/电机选型/双层式
Key words
electronic differential control/distributed rear drive electric bus/handling stability/motor selec-tion/dual layer type
维普
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