基于直接横摆力矩的电动汽车稳定性控制

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1、机床与液压Mar．2013HydromechatronicsEngineeringVo1．41No．6DOI：10．3969／j．issn．1001-3881．2013．06．020TheStudyofStabilityControlBasedontheYawingMomentofElectricVehicleDUANMin，YINGShiming，ZHANGHongshuangLiaoningUnive~ityofTechnology，Jinzhou121001，ChinaAbstract：BasedonthedirectyawmOmentcontrolme

2、thod．thisstudysetsupa7Dofvehiclemodelandanidealvehiclemodel。andthestabilitycontrollerwithfuzzylogiccontroImethodsiSadoptedtoimprovethevehicleyawstability．ThevehiclemodeIissimulatedindiferentcondi．tions，andtheresultsshowthatthecontrolerjswithoutcontroIofthevehicleandcompared．theyawra

3、teandsideslipanglesteady-statevaluesettheoutputisreduced，andimprovethestabili-tyofthevehicleyaw，throughtheanalysisandtestingofthiscontrolstrategyisefective．Keywords：yawstability，fuzzy-logiccontrol，yawmoment，simulationanalysis1ished17degreesoffreedommodelcarisverytypi—1．Introductionc

4、a1，currentlydomesticsetuparelativelyperfectve-hiclemodelis12degreesoffreedom．InviewoftheAtpresent，thecontrolmethodsofthevehicleimportanceofthemodel。thisresearchchosesevenstabilitymainlyhavetwokinds．Forcarcenteroffreedomvehiclemodels，inthemodelingignoringthemassslipanglecontro1．Throu

5、ghthecenterofmasstorsionvibrationandshimmyofthecar．Themodelofcarslipangleforcontro1．1etthecarinacertainincludesthecar’slateralmovement．1ongitudinalrangeofchangestoensureitsstability[1]．ThroughmotionandaroundtheZaxishorizontalmotionandthefollowinganidealvehicleintheplaceofthean．fourw

6、heelrotationsevendegreesoffreedom．Thedy．gularvelocitymethod．Thatisadrivermakeanidealnamicequationisasfollows：yawangularvelocity，whenthepracticalandidealVehiclelongitudinalforcebalanceequation：yawangularvelocityofthevehiclehavecertaindevi-m(一·)=(F1+2)cos8一ation。exertcontrolofvehicle，

7、soastoensurethe(Fyl+Fy2)sin6+F妇+(1)stabilityoftheelectilecar『2．3]．InordertoensureVehiclelatera1forcebalanceequation：thestabilityoftheear。sotheuseofadvancedcontrolm(2j一y·v)=(1+F以)sin6+methodtoachievethestabilityofthevehiclecontrol(F1+Fy2)cos8+F侣+F(2)andimprove，Accordingtotheproposedc

8、ontrolstrat—Vchicle