基于国家估计的四轮独立驱动电动汽车侧向稳定控制研究
Yu-Jie Ma1,2, Chih-Keng Chen1, Hongbin Ren3
1Department of Vehicle Engineering, National Taipei University of Technology, Taipei 10608, Taiwan.
Sensors (Basel, Switzerland)
|January 25, 2025
概括
本研究介绍了电动汽车状态估计和稳定性控制的层次框架. 该方法提高了车辆的操控性和稳定性,特别是在低至中等路粘附条件下.
科学领域:
- 汽车工程 汽车工程
- 控制系统 控制系统
- 机器人技术 机器人技术 机器人技术
背景情况:
- 具有四轮独立驱动 (FWID) 的电动汽车 (EV) 在状态估计和横向稳定控制方面提出了独特的挑战.
- 准确估计车辆状态,如轮胎力量和速度,对于有效的控制至关重要.
- 保持横向稳定对于车辆安全至关重要,特别是在不同的道路条件下.
研究的目的:
- 为FWID电动汽车的综合车辆状态估计和横向稳定性控制提出一个层次框架.
- 提高车辆状态估计的准确性和效率.
- 改进电动汽车的操控和稳定性能.
主要方法:
- 一种使用卡尔曼波器 (KF) 和扩展卡尔曼波器 (EKF) 的等级估计方法,用于估计轮子的垂直负载,横向力和速度.
- 一个层次的横向稳定控制系统,具有用于扭矩分配的上下控制层.
- 整合一个三度自由度的车辆模型与魔术公式轮胎 (MF-T) 模型.
主要成果:
- 层次估计方法表现出高计算效率和在估计车辆状态时的卓越准确性.
- 层次控制系统显著改善了车辆的操控和横向稳定性,特别是在低至中等路粘附条件下.
- 模拟和双车道切换 (DLC) 测试验证了拟议框架的有效性.
结论:
- 开发的层次框架为FWID EVs的状态估计和横向稳定性控制提供了有效的解决方案.
- 该方法在各种道路条件下显著改善了车辆性能和安全.
- 这项工作有助于自主和电动汽车控制技术的进步.
相关概念视频
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01:19Root-Locus Method
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01:22Controller Configurations
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01:17Rolling Resistance: Problem Solving
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01:27State Space Representation
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01:19PID Controller
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