A torque electronic differential control strategy was proposed to solve the problem that the vehicle model of distributed electric vehicle at high speed presents nonlinear and traditional speed electronic differential control strategy relies on Ackermann's turning model without considering the nonlinear disturbance caused by tire characteristics.A 3-DOF vehicle model,a 2-DOF reference model,a Dugoff tire model and a hub motor model were established respectively.To improve vehicle steering stability at high speed,a two-layer torque distribution controller was designed,in which the upper controller was based on GA-BP neural network algorithm to obtain additional yaw moment,the lower controller is based on quadratic programming algorithm to optimize the online distribution of the driving torques of the four wheels.The proposed control strategy is verified by co-simulation based on Carsim/Simulink.The results show that the proposed control strategy can effectively track the desired trajectory,better control the sideslip angle and yaw angle velocity of the centroid,and ensure the stable driving of the vehicle while realizing the electronic differential,and improve the safety of the vehicle compared with the equal torque distribution strategy,and the control strategy reduces steering resistance and driving torque requirements,reduces energy consumption,and gives full play to the energy saving potential of the vehicle.
关键词
分布式电动汽车/轮毂电机/电子差速/GA-BP神经网络/转矩分配
Key words
distributed electric vehicle/hub motor/electron differential/GA-BP neural network/torque distribution
维普
万方数据