分布式驱动电动汽车车轮转矩分配控制策略

刘晓童，赵红^*，路来伟，徐福良，孙传龙

青岛大学 机电工程学院，山东 青岛  266071

摘要：为提高分布式驱动电动汽车横摆稳定性，同时减少控制器起动次数，设计基于电机特性的横摆力矩平均分配的双层控制器。在上层控制器中，建立车辆二自由度理想数学模型，计算其与实际车辆模型横摆角速度偏差，结合相平面法判断车辆当前状态是否需进行控制，若需要，则采用比例积分微分（proportional integral differential, PID）控制，并计算维持车辆稳定所需的附加横摆力矩；下层控制器接受上层控制器的信号，基于电机特性的横摆力矩平均分配法对车轮施加相应的纵向力。采取Simulink软件与Carsim软件进行联合仿真验证，结果表明：该控制器可降低整车质心侧偏角和横摆角速度，有效提高汽车的行驶稳定性。

关键词：分布式驱动；操纵稳定性；转矩分配；联合仿真

Control strategy of wheel torque distribution fordistributed drive electric vehicle

LIU Xiaotong, ZHAO Hong^*, LU Laiwei, XU Fuliang, SUN Chuanlong

College of Mechanical and Electrical Engineering, Qingdao University, Qingdao 266071, China

Abstract：To improve the yaw stability of distributed drive electric vehicles and reduce the number of controller starts, a dual layer controller based on the average distribution of yaw torque of the motor characteristics is designed. In the upper controller, the ideal mathematical model of the vehicle with two degrees of freedom is established, and the yaw rate deviation from the actual vehicle model is calculated. The phase plane method is used to determine whether the current state of the vehicle needs to be controlled. If it needs to be controlled, the proportional integral differential (PID) control will be used, and the additional yaw moment required to maintain vehicle stability is calculated. The lower controller receives signals from the upper controller and applies corresponding longitudinal forces to the wheels based on the average distribution method of yaw torque based on motor characteristics. The joint simulation verification is conducted using Simulink and Carsim software, and the results show that the controller can reduce the vehicle′s center of mass sideslip angle and yaw rate, effectively improve the vehicle′s driving stability.

Keywords: distributed drive; drive stability; torque distribution; co-simulation