基于动态输出反馈的汽车横摆与侧倾稳定性控制

doi:10.3969/j.issn.1004-132X.2025.07.007

摘要/Abstract

摘要： 为提高轮毂电机驱动电动汽车在高速、低附着等极限工况下的横摆与侧倾稳定性，建立了车辆横向动力学三自由度多胞型模型，并提出一种鲁棒分层控制策略。通过迭代搜索求得上层降阶动态输出反馈控制器的局部最优解，以同时满足极点配置和H∞性能约束。以轮胎综合负荷率最小为优化目标，求得下层最优的四轮转矩。Simulink和CarSim联合仿真表明：该控制策略能明显提高车辆的稳定性，且对系统参数变化和外界干扰保持鲁棒性。

关键词: 电动汽车, 动态输出反馈, 鲁棒控制, 横摆稳定性, 侧倾稳定性

Abstract: In order to improve the yaw and roll stability of in-wheel motor drive electric vehicles under extreme conditions such as high speed and low adhesion, a 3-DOF multi-cell model of vehicle lateral dynamics was established, and a robust layered controller was proposed. The local optimal solution of the upper-level reduced-order dynamic output feedback controller was obtained by iterative search, with the demands for the pole configuration and H∞ performance constraints at the same time. With the optimization objective of minimizing the comprehensive tire load rate, the optimal torque of the lower four wheels was obtained. Simulink and CarSim co-simulation results show that this control strategy may significantly improve vehicle stability under different working conditions, and maintain robustness to system parameter variations and external disturbances.

Key words: electric vehicle； dynamic output feedback, robust control, yaw stability, roll stability

中图分类号:

U461
TP273

尹夕志1, 2, 3, 胡三宝1, 2, 3, 冯智勇1, 2, 3. 基于动态输出反馈的汽车横摆与侧倾稳定性控制[J]. 中国机械工程, 2025, 36(07): 1453-1462.

YIN Xizhi1, 2, 3, HU Sanbao1, 2, 3, FENG Zhiyong1, 2, 3. Vehicle Yaw and Roll Stability Control Based on Dynamic Output Feedback[J]. China Mechanical Engineering, 2025, 36(07): 1453-1462.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.07.007

https://www.cmemo.org.cn/CN/Y2025/V36/I07/1453

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