A compound control strategy of active rear-wheel steering and additional yaw moment was proposed to realize the handling and stability control of electric vehicle with four in-wheel motors.Aiming at the problem of high steering sensitivity during high-speed driving,the steering ratio of front and rear wheels was optimized.A hierarchical control framework was used.Based on the linear time-varying model predictive control algorithm,the time-varying predictive model of four in-wheel motors drive vehicle was established in the upper layer.The ideal output trajectory including the rear wheel steering system was deduced and tracked.The additional force and torque needed to track the ideal state trajectory were calculated.The threshold control of the slip ratio was realized by solving the four-wheel torque distribution optimization problem,and the distribution problem of regenerative braking and mechanical braking was solved in the lower layer.The simulation results show that the proposed compound control strategy can achieve the desired control effect,and the vehicle lateral and longitudinal stability is improved.
关键词
车辆工程/车辆稳定性/模型预测控制/主动后轮转向/轮毂电机
Key words
Vehicle engineering/Vehicle stability/Model predictive control/Active rear wheel steering/In-wheel motor
维普
万方数据