Rollover Stability and Control of In-wheel Motor Drive Electric Vehicles

Abstract

Abstract: To figure out the non-linear relationship between the unsprung mass and rollover stability of in-wheel motor drive electric vehicles， the effects of the unsprung mass on rollover stability in different road excitations were analyzed and an anti-rollover control strategy was investigated. First， taking the characteristics of four-wheel independent drive into consideration， the rollover dynamics vehicle models including the active suspension were established， and the rollover index suitable for uneven road was determined. Next， taking an in-wheel motor drive SUV as an example， the effects of unsprung mass on the vehicle roll stability were verified respectively. Finally， hierarchical controllers were designed based on the distributions of the four wheels driving torques. And some simulation tests with typical manoeuvres were also conducted to evaluate the proposed control method. The results show that， the unsprung mass and the rollover stability form a normal distribution on flat road， however， once existing road excitation， there is complex coupling relationship among the effects of unsprung mass and rollover stability. With the hierarchical rollover prevention controller， the vehicle rollover maybe avoided effectively.

Key words: in-wheel motor, rollover stability control, unsprung mass, uneven road

摘要：

针对轮毂电机驱动电动汽车非簧载质量与侧倾稳定性之间的非线性关系，分析不同路面激励下非簧载质量对轮毂电机驱动电动汽车侧翻稳定性的影响，提出分层防侧翻控制策略。考虑轮毂电机驱动电动汽车四轮独立驱动特点，建立包括主动悬架在内的汽车侧翻动力学模型，确定适用于不平整路面的绊倒型侧翻因子；以某轮毂电机驱动SUV为对象，分析非簧载质量与侧翻稳定性之间的关系；根据四轮独立驱动的特点，设计分层控制器，选取典型汽车侧翻工况进行实例仿真。研究结果表明：在平整路面上，非簧载质量与车辆侧翻稳定性成正态分布关系；在不平整路面上，非簧载质量对车辆侧翻稳定性的影响存在耦合关系；提出的防侧翻分层控制器，可有效提升车辆在不平整路面行驶时的防侧翻能力。

关键词: 轮毂电机, 防侧翻控制, 非簧载质量, 不平整路面

CLC Number:

JIN Zhilin, CHEN Guoyu, ZHAO Wanzhong . Rollover Stability and Control of In-wheel Motor Drive Electric Vehicles[J]. China Mechanical Engineering.

金智林, 陈国钰, 赵万忠. [分布式驱动电动汽车动力学控制]轮毂电机驱动电动汽车的侧翻稳定性分析与控制[J]. 中国机械工程.

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