基于稳定性的四轮驱动电动汽车转矩分配策略研究

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摘要 A torque allocation method of PID(Proportion-Integral-Derivative)control based on BP (Back-Propagation) neural network is adopted to investigate the stability of a four-wheel independent-driving electric vehicle under extreme driving conditions andto control both yaw rate and sideslip angle. The main characteristic parameters of the stability are analyzed first, and the control variables are determined. Finally, the torque allocation control strategy for an independent-driving electric vehicle is designed. The controller has two layers:upper and lower. In the upper layer, according to the demand of longitudinal force, the PID control method is designed for speed control, and the PID controller based on the BP algorithm is set up to control the yaw moment created by yaw rate and side-slip angle. In the lower layer, a fuzzy control method is adopted to control the slip rate. Finally, the designed control system is simulated. Results show that the designed torque allocation control strategy ensuresdriving safety and vehicle stability under extreme driving conditions.

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	张缓缓
	向绪爱
	叶克宝

关键词 ： automotive engineering, torque allocation, PID control based on neural network, electric vehicle, vehicle stability

Abstract：A torque allocation method of PID(Proportion-Integral-Derivative)control based on BP (Back-Propagation) neural network is adopted to investigate the stability of a four-wheel independent-driving electric vehicle under extreme driving conditions andto control both yaw rate and sideslip angle. The main characteristic parameters of the stability are analyzed first, and the control variables are determined. Finally, the torque allocation control strategy for an independent-driving electric vehicle is designed. The controller has two layers:upper and lower. In the upper layer, according to the demand of longitudinal force, the PID control method is designed for speed control, and the PID controller based on the BP algorithm is set up to control the yaw moment created by yaw rate and side-slip angle. In the lower layer, a fuzzy control method is adopted to control the slip rate. Finally, the designed control system is simulated. Results show that the designed torque allocation control strategy ensuresdriving safety and vehicle stability under extreme driving conditions.

Key words： automotive engineering torque allocation PID control based on neural network electric vehicle, vehicle stability

收稿日期: 2016-05-29

基金资助:Supported by the Foundation of State Key Laboratory of Automotive Simulation and Control (No. 20121114); the Graduate Program of Shanghai University of Engineering Science(No.E1-0903-14-01137)

通讯作者: ZHANG Huan-huan,E-mail address:zhanghh@sues.edu.cn E-mail: zhanghh@sues.edu.cn

引用本文:

张缓缓, 向绪爱, 叶克宝. 基于稳定性的四轮驱动电动汽车转矩分配策略研究[J]. Journal of Highway and Transportation Research and Development, 2017, 11(1): 98-102.
ZHANG Huan-huan, XIANG Xu-ai, YE Ke-bao. Research on Torque Allocation of Four-wheel Independent-driving Electric Vehicles based on Stability. Journal of Highway and Transportation Research and Development, 2017, 11(1): 98-102.

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http://manu27.magtech.com.cn/Jwk_gljtkj_en/CN/ 或 http://manu27.magtech.com.cn/Jwk_gljtkj_en/CN/Y2017/V11/I1/98

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