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汽车安全与节能学报

JASE ›› 2019, Vol. 10 ›› Issue (4): 423-432.DOI: 10.3969/j.issn.1674-8484.2019.04.003

• 汽车安全 • 上一篇    下一篇

分布式驱动电动汽车的差速转向控制及其适用性

裴晓飞 1，刘志厅 1，陈祯福 2，陈可际 1，杨波 1#br#   

  1. （1. 现代汽车零部件湖北省重点实验室，武汉理工大学，武汉430070，中国； 
    2. 汽车零部件技术湖北省协同创新中心，武汉理工大学，武汉430070，中国）
  • 收稿日期:2019-01-23 出版日期:2019-12-31 发布日期:2020-01-01
  • 作者简介:第一作者 / First author ： 裴晓飞（1985—），男（汉），湖北，副教授。E-mail: peixiaofei7@163.com。 第二作者 / Second author ： 刘志厅 (1994—)，男（汉），江西， 硕士研究生。E-mail: zhiting_liu121@163.com。
  • 基金资助:
    国家自然科学青年基金（51505354）。

Differential steering control and its applicability of distributed electric vehicle

PEI Xiaofei 1, LIU Zhiting 1, CHEN Zhenfu 2, CHEN Keji 1, YANG Bo 1   

  1. (1. Hubei Key Laboratory of Advanced Technology of Automotive Components, Wuhan University of Technology, Wuhan 430070, China; 
    2. Hubei Collaborative Innovation Center of Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China)
  • Received:2019-01-23 Online:2019-12-31 Published:2020-01-01

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摘要： 为提高分布式驱动电动汽车的转向冗余性和机动性，设计了一种分层式的差速转向控制器。 结合比例积分微分（PID）控制和逆查表模型确定期望轮速 , 采用自适应离散滑模控制得出差速转向所 需的轮边力矩。通过仿真试验，界定了差速转向的边界工况，分析了车速与附着系数对边界工况的影响， 并且对比了在差速辅助转向控制和纯方向盘控制时车辆的转向性能。结果表明：所提出的差速转向控 制策略能够融合传统转向系统进行辅助转向，在中低车速时能有效减小转弯半径，提高汽车的转向性 能；差速转向控制策略的有效性和实时性也得到了验证。

关键词: 分布式驱动电动汽车, 差速转向, 比例积分微分（PID）反馈, 自适应离散滑模控制, 稳定性边界

Abstract: A hierarchical controller of differential steering was proposed to improve the steering redundancy and maneuverability. The desired wheel-speeds were determined by the proportion integration differentiation (PID) control and the look-up table model. The required torque for differential steering were calculated by the adaptive discrete sliding mode control. The boundary condition of differential steering was defined by simulation experiments. The influence of vehicle velocity and adhesion coefficient on the boundary condition was analyzed, and the steering performance of vehicles was compared under differential assisted steering control and pure steering wheel control. The results show that the proposed differential steering control strategy can be integrated with the traditional steering system to assist steering, which can effectively reduce the turning radius and improve the steering performance at medium and low vehicle velocity, and the effectiveness and real-time of the differential steering control strategy is also verified. 

Key words: distributed electric vehicle, differential steering, proportion integration differentiation (PID), adaptive discrete sliding mode control, stability boundary