基于级联滑模的电动汽车自 适应运动控制
Adaptive Motion Control of Electric Vehicle Based on Cascaded Sliding Mode
侯丽春 1马家义 2郝俊1
作者信息
- 1. 长春汽车职业技术大学 汽车工程学院,长春 130013
- 2. 吉林大学 汽车工程学院,长春 130013
- 折叠
摘要
提出一种电动汽车自适应级联滑模运动控制方案,该电动汽车控制系统具有由侧滑角和横摆角速度控制器组成级联滑模控制结构,自带的参数自适应功能有效减轻车辆运行的高增益抖振问题,基于致动器冗余最小化的最优扭矩分配律有效防止了驱动力的过度饱和,最后在某汽车厂的车辆上进行实验验证.实验结果表明所提出的自适应级联滑模运动控制方案可以有效提高电动汽车的操纵性能,与无施加控制和施加传统控制相比,驾驶员的操纵操作力分别减少了 70％和33％,且能够很好地实现对横摆角速度和侧滑角的实时跟踪,同时参数自适应效应有效减轻了轮内电机不必要的高增益抖振现象.
Abstract
An adaptive cascade sliding mode motion control scheme for electric vehicles is proposed.The control system of electric vehicles consists of a cascade sliding mode control structure composed of sideslipping angle and yaw angle speed controller.The parametric adaptive function of the control system can effectively reduce the high-gain buffering problem of vehicle operation,and the optimal torque distribution based on the minimization of actuator redundancy can effectively prevent the over-saturation of the driving force.Finally,the experiment is carried out on the vehicle of an automobile factory.The experimental results show that the proposed adaptive cascade sliding mode motion control scheme can effectively improve the handling performance of electric vehicles.Compared with the non-applied control and the applied traditional control,the driver's handling force is reduced by 70％and 33％respectively,and the real-time tracking of the yaw speed and the sideslipping angle can be realized well.At the same time,the adaptive parameter effectively reduces the unnecessary high-gain buffeting phenomenon of the in-wheel motor.
关键词
电动汽车/运动控制/自适应级联滑模控制/操控性能/电机抖振/稳定性Key words
electric vehicle/motion control/adaptive cascade sliding mode control/handling performance/motor chattering/stability引用本文复制引用
基金项目
吉林省教育科学规划课题(十四五)(GH21458)
出版年
2024
NETL
NSTL
万方数据