四轮独立驱动电动汽车四轮转向和横摆力矩联合控制仿真-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Integrative Control Simulation of Four-wheel Steering and Yaw Moment Control of Four-wheel Independent Drive Electrical Vehicle

Author(s):: XU Kun; WANG Yunchao; SHEN Jian; (School of Mechanical and Energy EngineeringJimei UniversityXiamen 361021China)

Keywords:: four-wheel steering; yaw moment control; parameter self-adjusting fuzzy control; four-wheel independent-drive

摘要:: 为了提升四轮独立驱动电动汽车低速机动性和高速稳定性，提出四轮转向和横摆力矩联合控制策略。针对普通模糊控制器参数和控制规则固定、自适应能力差等缺陷，利用自校正模糊控制器进行模糊控制参数在线修正，建立Matlab/Simulink与CarSim联合仿真模型，并针对低速急剧双移线工况和高速连续正弦工况，进行了仿真分析，对比了无控制、有参数自校正模糊控制和无参数自校正模糊控制三种控制策略，结果表明：基于参数自校正模糊控制的四轮转向和横摆力矩联合控制策略有效提高了低速机动性和高速稳定性。

Abstract:: To enhance mobility at low vehicle speed and stability at high vehicle speed for four-wheel independent drive electric vehicle,a control strategy combined with four-wheel steering and yaw moment has been proposed.To overcome the disadvantages of the traditional fuzzy controller,which contains fixed parameters and control rules,low adaptive ability and etc,an online parameter self-adjusting fuzzy controller was developed.Under conditions of sharp double lane change at low speed and continuous sinusoidal at high speed,an analysis was carried out by the co-simulation model built by the Matlab/Simulink and CarSim software.The comparison among the three control strategies,which are the no control,the parameter self-adjusting fuzzy control and the parameter self-adjusting fuzzy control,show that the mobility at low vehicle speed and the stability at high vehicle speed have obviously been improved for the parameter self-adjusting fuzzy control strategy.