Abstract
In view of the current problem of single control objectives of safety and economy in distributed drive vehicles, this paper proposes a torque coordination control strategy for collaborative correction and preview. Based on the driver preview following theory, a driver preview model based on compensation correction is proposed to meet the vehicle’s path following conditions under different extreme working conditions. The Cubature Kalman Filter (CKF) algorithm is used to estimate the tire lateral force, and the tire cornering stiffness is corrected online to weaken the impact of model uncertainty on system control. The upper controller Robust Model Predictive Control (RMPC) is used as the yaw moment controller, and the lower controller is designed to take into account both safety and economy. Torque coordinated control considers road adhesion utilization and wheel hub motor power loss in the objective function to achieve dynamic, coordinated distribution of torque. Robustness analysis of the proposed control strategy under different vehicle parameters (mass change, tire wear). Finally, highway roads, ice and snow roads under double-shifting conditions and the serpentine maneuver test condition were selected to compare with traditional methods on the CarSim/Simulink joint simulation platform. The simulation results show that the proposed control strategy can make the vehicle center of mass side slip angle and yaw angular velocity better track the ideal values, and the vehicle stability is improved compared with the traditional method; At the same time, it can reduce the energy loss of the motor and improve the economy of the vehicle.
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