基于轮毂电机驱动力分配的电动汽车差速转向与稳定性协同控制研究

Research on Coordinated Control of Differential Steering and Stability for Electric Vehicles Based on Hub Motor Driving Force Distribution

摘要

针对轮毂电机驱动电动汽车差速转向与稳定性控制目标易冲突的问题，提出一种分层协同控制策略。研究建立了整车动力学模型，并设计了“上层决策-下层分配”的控制架构。上层通过动态权重仲裁机制，融合滑模差速转向控制与模糊PID稳定性控制的输出，实现智能协调；下层采用二次规划算法，以轮胎负荷率最小化为目标优化分配四轮转矩。CarSim/Simulink联合仿真表明，该策略在双移线、低附路面等工况下，能显著提升路径跟踪精度（最大横向偏差降低57%）与横向稳定性（质心侧偏角限制在4°内），且计算高效，具备工程应用潜力。

Abstract

Aiming at the conflict between differential steering and stability control objectives in in-wheel motor driven electric vehicles, a hierarchical coordinated control strategy is proposed. A vehicle dynamics model was established, and a control architecture of “upper-level decision-making and lower-level allocation” was designed. The upper layer intelligently coordinates the outputs of sliding mode differential steering control and fuzzy PID stability control through a dynamic weight arbitration mechanism. The lower layer optimally distributes torque to the four wheels using a quadratic programming algorithm aimed at minimizing the tire load rate. CarSim/Simulink co-simulation shows that this strategy significantly improves path-tracking accuracy (maximum lateral deviation reduced by 57%) and lateral stability (sideslip angle limited within 4°) under conditions such as double lane change and low-adhesion road steering. The strategy is computationally efficient and demonstrates potential for engineering application.

关键词

轮毂电机驱动电动汽车 / 差速转向 / 稳定性控制 / 协同控制 / 分层控制

Key words

in-wheel motor driven electric vehicle / differential steering / stability control / coordinated control / hierarchical control

参考文献

[1] 屈小贞, 张昊, 李刚, 等. 四轮毂电机驱动汽车的差速转向控制研究[J]. 现代制造工程, 2025(9): 90-98.

[2] 李胜琴, 刘夏蕾, 周洋. 轮毂电机驱动汽车差动助力转向与横摆稳定性协调控制[J]. 重庆理工大学学报(自然科学版), 2024, 38(8): 41-47.

[3] 胡金芳, 颜春辉, 赵林峰, 等. 分布式驱动电动汽车转向工况转矩分配控制研究[J]. 中国公路学报, 2020, 33(8): 105-116.

[4] 赵南南, 史博. 分布式电动汽车转矩型电子差速控制策略研究[J]. 机械科学与技术, 2024, 43(11): 1915-1922.

[5] 邹渊, 郭宁远, 张旭东, 等. 分布式电驱动车辆力矩分配控制研究现状综述[J]. 中国公路学报, 2021, 34(9): 1-25.

[6] 田杰, 杨明飞. 四轮轮毂电机电动汽车差速转向的分层控制[J]. PLOS ONE, 2023, 18(6): e0285485.

[7] 王艳华, 孟永凯, 邓吉琛, 等. 分布式电动车转向横向稳定性力矩适应性分配策略[J]. 重庆理工大学学报(自然科学), 2024, 38(3): 46-54.

[8] 陈江松, 许鑫, 王斌, 等. 考虑转矩波动的轮毂电机驱动汽车能耗优化方法[J]. 汽车工程, 2025, 47(4): 701-713.

[9] 张雷. 四轮轮毂电机驱动智能电动汽车转向失效容错控制研究[D]. 北京: 北京理工大学, 2021.