轮毂电机驱动装甲车辆行驶稳定性控制仿真

为实现8×8轮毂电机驱动装甲车辆行驶稳定性控制，采用分层控制的驱动力矩分配思想，在顶层基于一种 G－向量控制方法，利用车辆的横向加速度信息对车辆的总驱动力矩进行修正；在中间层次基于直接横摆转矩控制的思想，实现两侧驱动力矩的合理分配；在底层采用驱动防滑控制，实现各驱动轮转矩的优化分配。基于“驾驶员－综合控制器”在环实时仿真系统进行实时仿真试验，对稳定性控制算法和车辆综合控制算法代码进行验证，仿真结果表明该控制方法能够有效抑制车辆的横向运动，提高车辆行驶稳定性。

Stability Control Simulation of In-wheel-motor Drive Armored Vehicle

For the stability control of 8 × 8 in-wheel-motor drive armored vehicle in motion,the driven torque of every motor is distributed by layered torque distribution control method. The total driven torque is optimized through the use of the vehicle lateral acceleration information based on G-vectoring control method at the top layer. The demanding torque of every drive motor is optimized based on the combination of DYC and anti-slip regulation control. This control method and the controller code are validated based on the driver-integrated controller in-loop real-time simulation system. The simulation results show that the lateral motion of the vehicle is inhibited effectually with an improvement of the ve-hicle stability in motion.