多轮独立电驱动车辆转向稳定性集成控制研究

为提高多轮独立电驱动车辆转向稳定性，提出一种以直接横摆力矩控制为核心的集成控制方法，分别设计直接横摆力矩上层目标跟踪控制器和下层转矩协调控制器，并对下层控制器进行多层次优化设计。采用转矩预分配、最优滑转率控制分配和补偿分配相结合的多层次分配结构，实现系统层面和单个驱动轮转矩的优化分配控制，最大限度减小横摆力矩执行误差。基于某型8轮独 立电驱动试验样车，进行低附着路面和良好路面双移线行驶试验。试验结果表明：设计的集成控制器有效提高了车辆转向的稳定性，能实现对期望转向轨迹的良好跟踪。

Research on Integrated Control of Steering Stability of Multi-wheel Independent Electric Drive Vehicle

An integrated control method based on direct yaw moment control (DYC) is designed to improve the steering stability of multi-wheel independent electric drive vehicle,which includes the upper coordinated controller and the lower controller.The lower controller is optimized by designing a distribution with pre-distribution,driving skid-resistance control and compensation.The optimized torques of the system and the driving wheels keep the performing error of yaw moment minimal.The double lane change experiments of a prototype vehicle on low friction road and high friction road show that the integrated controller can improve the steering stability significantly and follow the desired tracks.