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为了研究四轮独立驱动电动汽车在极限工况下的稳定性,采用了基于BP神经网络的PID控制方法联合控制横摆角速度与质心侧偏角进行转矩分配。首先分析了稳定性的主要特征参数,并确定了控制变量,对独立驱动电动汽车的转矩分配控制策略进行了设计,控制器包括上层控制器与下层控制器。在上层控制器中,根据纵向力的需求,设计了PID控制方法进行速度控制;制定了基于BP算法的PID控制器控制横摆角速度与质心侧偏角产生横摆力矩。在下层控制器中,采用模糊控制方法控制滑移率。最后对所设计的控制系统进行了仿真研究,仿真结果表明:所设计的转矩分配控制策略能够保证车辆在极限工况下行驶的安全稳定性。
In order to study the stability of four-wheel drive vehicle under the limit condition, a PID control method based on BP neural network is used to control the torque distribution of yaw rate and center of mass roll angle. Firstly, the main characteristic parameters of the stability are analyzed, and the control variables are determined. The torque distribution control strategy of the independent drive electric vehicle is designed. The controller includes the upper controller and the lower controller. In the upper controller, the PID control method is designed to control the speed according to the requirement of the longitudinal force. A PID controller based on BP algorithm is proposed to control the yaw rate and yaw moment of the center of mass side slip angle. In the lower controller, the fuzzy control method is used to control the slip ratio. Finally, the simulation of the designed control system is carried out. The simulation results show that the designed torque distribution control strategy can ensure the safety and stability of the vehicle under the extreme conditions.