4WD电动车的稳定性控制
A Method for 4WD Electric Vehicle Stability Control

针对车辆质心侧偏角难以测量的问题，采用无迹卡尔曼滤波算法设计了质心侧偏角状态观测器，针对分布式电驱动汽车在加速转向工况下车轮驱动力的优化分配问题，提出一种具有分层结构的控制策略。上层控制策略，以提高控制器对参数不确定和模型误差的鲁棒性，基于滑模鲁棒控制计算期望的主动横摆力矩；下层控制策略，以提高车辆操纵稳定性及轮胎利用率，采用拉格朗日乘子法对轮胎力进行优化分配。在MATLAB/Simulink环境下进行仿真分析，仿真结果验证了该控制方法能够有效地提高车辆操纵稳定性和轮胎的利用率。
It is difficult to measure the sideslip angle, whose observer is designed with the UKF. A hierarchical control strategy was put forward for a distributed drive electric vehicle to control wheel torque when the vehicle was accelerating while swerving. For the upper hierarchical control strategy, a robust sliding mode control was used to calculate the desired yaw moment and to improve the stability caused by model errors and parameter inaccuracy. For the lower hierarchical control strategy, the Lagrange multiplier algorithm was carried out to distribute tire torque and improve vehicle stability and efficiency. The model was simulated with MATLAB/Simulink; the simulation results show that the method can effectively improve vehicle stability and efficiency