紧急转向工况轮毂电机电动汽车多目标转矩分配策略

doi:10.3969/j.issn.1674-8484.2025.02.004

摘要/Abstract

摘要：

为了提升轮毂电机电动汽车在紧急转向工况下的转向稳定性和乘员舒适性，开发了基于第 2 代非支配排序遗传算法（NSGA-Ⅱ）的多目标优化策略。该策略采用直接横摆力矩控制方法，设计了操纵稳定性和乘员舒适性的优化目标函数，考虑了纵向期望转矩和附加横摆力矩等广义力的等式约束条件，并在NSGA-Ⅱ计算出的 Pareto 前沿中根据车辆的动态条件来选择转矩最优解。结果表明：相比于轴载比例（ALR）和加权最小二乘法（WLS）策略，优化策略的质心侧偏角和横摆角速度相对于参考值的均方根误差分别下降了 37.45%、52.08% 和 41.98%、56.95%，其侧向加速度和转矩的幅值也更小，证明所提出策略在轮毂电机电动汽车紧急转向时转矩分配的有效性，提高了车辆的转向稳定性和乘员舒适性。

关键词: 电动汽车, 轮毂电机, 第 2 代非支配排序遗传算法（NSGA-Ⅱ）, 转矩分配, 操纵稳定性, 乘员舒适性

Abstract:

A multi-objective optimization strategy based on the non-dominated sorting genetic algorithmⅡ (NSGA-Ⅱ) was developed to improve steering stability and occupant comfort in hub-motor electric vehicles under emergency steering conditions. The strategy adopted a direct yaw moment control method to design the optimized objective function for handling stability and occupant comfort, taking into account generalized force equation constraints such as longitudinal desired torque and additional yaw moment. The optimal torque solution was selected in the pareto front calculated by NSGA-Ⅱ according to the dynamic conditions of the vehicle. The results show that compared to the axle load ratio (ALR) and weighted least squares (WLS) strategies, for high-speed steering, the root-mean-square errors of the vehicle sideslip angle and the yaw rate of the optimization strategy with respect to the reference values are reduced by 37.45%, 52.08%, and 41.98%, 56.95%, respectively, and the amplitudes of its lateral acceleration and torque are also smaller. The effectiveness of the proposed strategy for torque distribution during emergency steering of hub-motor electric vehicles is demonstrated to improve the vehicle steering stability and occupant comfort.

Key words: hub-motor electric vehicles, non-dominated sorting genetic algorithmⅡ(NSGA-Ⅱ), torque distribution, handling stability, occupant comfort

中图分类号:

U461.6

范小彬, 彭佳星. 紧急转向工况轮毂电机电动汽车多目标转矩分配策略[J]. 汽车安全与节能学报, 2025, 16(2): 217-225.

FAN Xiaobin, PENG Jiaxing. Multi-objective torque distribution strategy for hub motor electric vehicles under emergency steering conditions[J]. Journal of Automotive Safety and Energy, 2025, 16(2): 217-225.

图/表 14

图1 车辆动力学模型

图2 最优转矩分配控制器

图3 NSGA-Ⅱ流程图

图4 Pareto托前沿最优解的选择

图5 轮毂电机电动汽车实验样车

总质量，m	1 298 kg
质心到前轴距离，l_f	1.015 m
质心到后轴距离，lr	1.895 m
前轴轮距，B_f	1.675 m
后轴轮距，B_r	1.675 m
轮胎滚动半径，R_w	0.325 m
质心高度，h_g	0.54 m
车辆绕Z轴的转动惯量，I_z	1 536.7 kg · m²
电机最大转矩，T_max	200 Nm

表1 整车结构参数

图6 样车结构布局

图7 方向盘转角

图8 3种转矩分配策略的车速跟踪比较

图9 纵向稳定性参数

图10 侧向稳定性参数

转矩分配策略	RMSE
转矩分配策略	β_d / rad	γ_d / (rad·s^-1)
ALR	0.024 3	0.033 6
WLS	0.026 2	0.037 4
NSGA-Ⅱ最优转矩分配策略	0.015 2	0.016 1

表2 不同策略的质心侧偏角和横摆角速度的RMSE

图11 车辆侧向加速度

图12 3种分配策略的转矩

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