现代制造工程 ›› 2025, Vol. 540 ›› Issue (9): 90-98.doi: 10.16731/j.cnki.1671-3133.2025.09.012

• 车辆工程制造技术 • 上一篇    下一篇

四轮毂电机驱动汽车的差速转向控制研究

屈小贞, 张昊, 李刚, 刘晏   

  1. 辽宁工业大学汽车与交通工程学院,锦州 121001
  • 收稿日期:2024-11-06 出版日期:2025-09-18 发布日期:2025-09-23
  • 作者简介:屈小贞,博士,讲师,主要从事车辆智能化底盘集成控制研究工作。张昊,硕士研究生,主要从事车辆系统动力学及控制研究工作。E-mail:82707780@qq.com;1076098467@qq.com。
  • 基金资助:
    2024年辽宁省教育厅高等学校基本科研项目(LJ212410154036);辽宁省教育厅重点攻关项目(JYTZD2023081)

Research on differential steering control of four wheel motor driven vehicles

QU Xiaozhen, ZHANG Hao, LI Gang, LIU Yan   

  1. School of Automobile and Traffic Engineering, Liaoning University of Technology,Jinzhou 121001,China
  • Received:2024-11-06 Online:2025-09-18 Published:2025-09-23

摘要: 为提高四轮毂电机驱动汽车在高速转弯时的转向稳定性,准确协调各驱动轮之间的差速控制,设计了一种基于驱动力矩分配的差速转向控制策略。差速转向控制策略采用分层控制架构,上层控制器基于滑模变结构控制算法计算汽车所需的总驱动力矩,基于改进粒子群优化算法优化模糊全局快速终端滑模控制,计算汽车差速转向所需的附加横摆力矩;下层控制器则基于二次规划算法将所计算的总驱动力矩和附加横摆力矩进行优化分配,进而得到各个车轮的驱动力矩。通过Carsim/Simulink软件进行联合仿真对所设计的控制策略进行验证,结果表明,相较于传统控制策略,差速转向控制策略能更有效地降低汽车在高速转弯时的横摆角速度和质心侧偏角峰值响应。

关键词: 四轮毂电机, 差速转向控制, 改进粒子群优化算法, 二次规划

Abstract: In order to improve the steering stability of four wheel motor driven vehicles when cornering at high speed,and accurately coordinate the differential control among the driving wheels,a differential steering control strategy based on driving torque distribution is designed. The strategy employs a layered control architecture. The upper controller calculates the total driving torque required by the vehicle based on sliding mode variable structure control algorithm and optimization of fuzzy global fast terminal sliding mode control for calculating additional yaw moment of vehicle differential steering based on improved particle swarm optimization algorithm. The lower controller optimizes the calculated total driving torque and additional yaw moment based on quadratic programming algorithm to obtain the driving torque of each wheel. Finally,the designed control strategy is verified by Carsim/Simulink software co-simulation,and the results show that compared to traditional control strategies, the differential steering control strategy can effectively reduce the peak response of the vehicle′s yaw rate and the side slip angle during high-speed cornering.

Key words: four wheel motor, differential steering control, improved particle swarm optimization algorithm, quadratic programming

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