轮毂电机驱动车辆转向控制策略

摘要

为提高轮毂电机驱动车辆转向机动灵活性以及安全稳定性，提出了一种基于直接横摆力矩控制的转向控制策略。以带有双桥转向机构的8轮轮毂电机驱动车辆为研究对象，研究其双重转向控制问题，建立基于车辆二自由度单轨模型的车辆参考模型，并以横摆角速度作为控制变量，建立基于横摆力矩PID控制器和横摆力矩分配控制器的转向分层控制模型。利用硬件在环实时仿真实验对所提出的转向控制策略的可行性和有效性进行分析验证。%In order to improve the steering flexibility,security and stability of the in-wheel motor drive vehicle,a steering control strategy based on DYC (Direct Yaw Moment Control)is established. The double-axle steering mechanism is taken as an object of study for its dual steering control. A vehicle model is established based on a monorail model with 2 degree of freedom. And a hierarchical control model based on PID controller and yaw moment distribution controller,in which the yaw angular velocity is chosen to be a controlling variable. The steering control strategy established in this paper is proven to be feasible and effective through the HIL(Hardware-in-Loop)real time simulation.