For the stability control problem of vehicles with mechanical elastic electric wheels(MEEW),considering the uncertain perturbation of MEEW's and external interference during actual driving,a 2-DOF vehicle model with nonlinear interference term was established.The vehicle's stability control strategy was made of two parts.In the upper layer,a yaw rate sliding mode controller and a sideslip angle sliding mode controller based on extended state observer(ESO)were designed respectively.By using ESO,the nonlinear interference items were observed and compensated in real time.After dividing the stability area of the vehicle according to the β-(β)phase plane,the above two controllers are switched.In the lower controller,the torque distribution was carried out based on the quadratic programming method.The simulation results show that the proposed control strategy can well control the stability of distributed driven electric vehicle which matchs MEEW.
关键词
扩张状态观测器/机械弹性电动轮/横摆稳定性控制/非线性干扰项/滑模控制
Key words
extended state observer/mechanical elastic electric wheels/yaw stability control/nonlinear disturbance term/sliding mode control
维普
万方数据