针对轮毂式电动汽车在转弯时存在驱动轮相对滑移率受外界干扰大的问题，提出一种基于相对滑移率的电动汽车电子差速控制方法，设计了基于最优控制和滑模控制的线性二次型最优滑模控制器。采用前轮转向后轮驱动的轮毂式电动汽车作为研究对象，针对其电动汽车电子差速控制系统的操纵稳定性特点，构建包含电动电动汽车纵向、侧向和横向运动的三自由度整车仿真模型，经过线性模型化将电动汽车的驱动相对滑移率作为反馈控制量，通过控制汽车的转矩协调百分比来控制驱动轮的输出转矩，从而控制了驱动轮的相对滑移率。仿真结果表明，该控制方法实现了车辆在转弯过程中驱动轮的相对滑移率最小，且提高了电子差速系统的抗干扰能力，有效地增强了系统的鲁棒稳定性，提高了车辆的行驶安全性。
臧怀泉
,
戴彦
,
张素燕
,
邸聪那
. 一种基于相对滑移率的电动汽车电子差速控制方法研究[J]. 机械工程学报, 2017
, 53(16)
: 112
-119
.
DOI: 10.3901/JME.2017.16.112
This paper put forward electronic differential control method of electric vehicle based on relatively slip rate and designs linear quadratic type of optimal sliding mode controller based on optimal control and sliding-mode control, which aims at in-wheel motor drive electric vehicle existing problem that relative slip rate of driving wheel is maximum interfered by the external world in the curve. Adopting front wheel steering rear-wheel drive of in-wheel motor drive electric vehicle as a subject for study, which aims at handing stability characteristics of electronic differential control of electric vehicle and structuring including three degree-of-freedom complete vehicle stimulation model of electric vehicle longitudinal motion, lateral motion and transverse motion.Through linear model, the driving relative slip ratio of the electric vehicle is taken as the feedback control quantity. It consequently controls relative slip rate of driving wheel through controlling torque coordinating percentage of car to control drive wheel's output torque. The simulation results show that the controlling method realizes the vehicle's minimum relative slip rate of driving wheel in the course of turning and enhances immunity from interference of electronic differential system. It effectively enhances the robust stability of system and improves roadability of vehicle.
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