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基于ESO的机械弹性电动轮式车辆稳定性控制

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针对机械弹性电动轮(MEEW)式车辆的稳定性控制问题，考虑到车辆在实际行驶时存在的一些MEEW内部摄动和外部干扰，建立了存在非线性干扰项的2自由度车辆模型。基于上述模型对整车进行稳定性分层控制，在上层中分别设计了基于扩张状态观测器(ESO)的横摆角速度和质心侧偏角滑模控制器。通过ESO对非线性干扰项进行实时的观测和补偿。依据β-(β)相平面对车辆的稳定性区域进行划分，并基于此对上述两个控制器进行平滑切换。在下层控制器中，基于二次规划方法进行转矩分配。仿真实验结果表明:在考虑干扰的情况下，本文横摆稳定性控制器能够很好地控制匹配MEEW的分布式驱动电动车的稳定性。
Stability control of with mechanical elastic electric wheeled vehicles based on extended state observer
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.

extended state observermechanical elastic electric wheelsyaw stability controlnonlinear disturbance termsliding mode control

赵又群、林涛、林棻、沈峘

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南京航空航天大学能源与动力学院,南京 210016

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

国家自然科学基金国家自然科学基金高机动防暴车辆技术国家工程实验室开放基金中国航天一院创新基金中央高校基本科研业务费专项

5227239711672127B20210017HTF20200960NP2020407

2024

10.13229/j.cnki.jdxbgxb.20220224

吉林大学学报(工学版)
吉林大学

吉林大学学报(工学版)

CSTPCD北大核心
影响因子：0.792
ISSN：1671-5497
年,卷(期)：2024.54(1)
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