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汽车安全与节能学报

JASE ›› 2019, Vol. 10 ›› Issue (2): 169-177.DOI: 10.3969/j.issn.1674-8484.2019.02.004

• 汽车安全 • 上一篇    下一篇

轮毂驱动电动汽车差动助力转向变论域模糊 PID 控制

张志勇 1, 2，唐 磊 1，郝 威 2，袁 泉 2   

  1. （1. 长沙理工大学 汽车与机械工程学院，长沙  410114，中国； 2. 汽车安全与节能国家重点实验室，清华大学，北京 100084，中国）
  • 收稿日期:2018-11-15 出版日期:2019-06-29 发布日期:2019-07-05
  • 作者简介:第一作者：张志勇(1976—)，男( 汉)，湖南，副教授。E-mail： zzy04@163.com。 第二作者：唐磊 (1994—)，男( 汉)，湖南，硕士研究生。E-mail：1127547084@qq.com。
  • 基金资助:

    汽车安全与节能国家重点实验室开放基金 (KF1827)；国家自然科学基金 (51675057)。

Differential power steering control for in-wheel motored electric vehicle based on variable universe fuzzy PID

ZHANG Zhiyong 1,2, TANG Lei 1, HAO Wei 2, YUAN Quan2   

  1. (1. College of Automobile and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China; 2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China)
  • Received:2018-11-15 Online:2019-06-29 Published:2019-07-05

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摘要：

       为改善轮毂驱动电动汽车的转向轻便性，提出了一种基于变论域模糊比例-积分 - 微分（PID） 的差动助力转向控制方法。建立转向系统模型和理想助力特性模型，获得车辆转向行驶过程中的理 想方向盘力矩；根据方向盘力矩偏差和偏差变化率的大小，调整PID的3个控制参数，实现 4 个 车轮的转矩分配控制；利用PID对车轮的滑移率进行控制，以避免车轮过度滑转；基于CarSim和 MATLAB/Simulink软件的数字仿真进行了控制性能分析。结果表明：变论域模糊PID控制下车辆转 向轻便性改善 43.5%，横摆角速度误差均方根值为0.212 rad/s；该方法能提高方向盘力矩跟踪理想力 矩的精度，且有效地实现了车轮滑移率控制。

关键词: 轮毂驱动电动汽车 , 差动助力转向 , 模糊PID控制 , 变论域 , 滑移率控制 差动助力转向, 模糊PID控制, 变论域, 滑移率控制 , 差动助力转向, 模糊PID控制, 变论域, 滑移率控制

Abstract:

A differential power steering control method was proposed based on variable universe fuzzy proportional-integral-derivative (PID) to improve the steering lightness of an in-wheel-motored electric vehicle. A steering system model and an ideal power assist characteristic model were established to obtain the ideal steering wheel torque during vehicle steering. According to the deviation of steering wheel torque and the change rate of the deviation, the PID control parameters were adjusted and the torque distribution control of the four wheels were realized. PID was used to control the slip rate of the wheels to avoid excessive wheel slip. Numerical simulation based on CarSim and MATLAB/Simulink software was used to analyze the control performance. The results show that the vehicle steering lightness improvement under variable-domain fuzzy PID control is 43.5%, and the error rms of the yaw rate is 0.212 rad/s. The proposed control method can improve the accuracy of steering wheel torque tracking ideal torque, and effectively realize the wheel slip rate control.

Key words:  in-wheel-motored electric vehicle ,  differential power steering , fuzzy PID contro l variable universe ,  slip ratio control