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基于CarSim/Simulink建立分布式电动车的整车动力学模型,同时建立2自由度的参考模型,用于求解车辆行驶时的期望横摆角速度及质心侧偏角以保持车辆行驶稳定性。同时,基于模型预测控制设计控制器,通过改变驱动轮转矩,获得附加横摆力矩,实现对车辆横摆角速度及质心侧偏角的控制。通过仿真试验,在前轮转角阶跃输入及正弦输入两种工况下,验证控制方法的有效性。
Based on CarSim / Simulink, the vehicle dynamic model of distributed electric vehicle is established. At the same time, a two-degree-of-freedom reference model is established to solve the desired yaw rate and center of mass roll angle in order to maintain vehicle stability. At the same time, based on the model predictive control design controller, the additional yaw moment can be obtained by changing the driving wheel torque to realize the control of vehicle yaw rate and center of mass side slip angle. Through the simulation test, the validity of the control method is verified under the two conditions of front wheel angle step input and sine input.