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为了充分发挥四轮独立电驱动型式在直接横摆力矩控制系统中对改善车辆动力学性能的优势,提出了一种新的全轮纵向力优化分配方法。基于四轮独立驱动特点建立了侧重提高稳定性和侧重改善机动性的两种目标函数,分别用于降低整车路面附着负荷和降低整车横摆响应滞后。综合直接横摆力矩需求、地面附着及电机驱动限制得出全轮纵向力优化分配的约束条件。基于模糊理论设计了以车辆质心侧偏角为变量的权重函数,并对约束优化两种目标函数得出的纵向力分配值进行实时动态调整。该方法进一步提高了车辆在直接横摆力矩控制下的整车路面附着潜力并改善横摆响应速度,提升了车辆稳定性和机动性。
In order to give full play to the advantage of four-wheel independent electro-drive type in improving the dynamic performance of the vehicle in the direct yaw moment control system, a new method of optimal distribution of all-wheel longitudinal force is proposed. Based on the characteristics of four-wheel independent driving, two objective functions are put forward, which focus on improving stability and focusing on improving maneuverability. They are respectively used to reduce the load on the vehicle’s road surface and reduce the lag of vehicle yaw response. Based on the requirements of direct yaw moment, ground attachment and motor drive constraints, the optimal distribution conditions of all wheel longitudinal forces are obtained. Based on the fuzzy theory, the weight function with the vehicle body center of mass deviation angle as the variable is designed, and the longitudinal force distribution values obtained from the two objective functions of constraint optimization are dynamically adjusted in real time. The method further improves the vehicle’s road surface attachment potential under the direct yaw moment control and improves the yaw response speed, thus improving the vehicle stability and mobility.