پايدارسازي جانبي خودروي الکتريکي چهارچرخ محرک با استفاده از يک کنترل‌کننده سه‌لايه و کنترل مد لغزشی
محورهای موضوعی : مهندسی برق و کامپیوترحسن علی‌پور 1 * , مهران صباحي 2 , محمدباقر بناءشریفیان 3
1 - دانشگاه تبریز
2 - دانشگاه تبريز
3 - دانشگاه تبریز
کلید واژه: خودروي الکتريکي چهارچرخ محرک کنترل پايداري جانبي کنترل مد لغزشی کنترل نرخ ياو,
چکیده مقاله :
در اين مقاله، يک کنترل‌کننده جديد براي پايدارسازي جانبي خودروهاي الکتريکي چهارچرخ محرک بدون ديفرانسيل پيشنهاد شده که روش کنترلي پيشنهادي شامل سه سطح بالا، متوسط و پايين مي‌باشد. در سطح بالای کنترل‌کننده، ديناميک‌هاي مطلوب خودرو يعني سرعت طولي و نرخ ياو مرجع تعيين مي‌شوند. در این مقاله، يک ساختار جديد براي روش کنترل مد لغزشي پيشنهاد شده و پايداري آن توسط تئوری پایداری لیاپانوف اثبات گرديده است. این روش کنترل مد لغزشی نسبت به کنترل‌کننده مد لغزشي معمولي مقاوم‌تر، سريع‌تر و داراي نوسانات کمتري حول پاسخ است. کنترل‌کننده سطح متوسط جهت رسيدن به نيروي رانش و ممان ياو مطلوب، بر اساس روش کنترل مد لغزشی پیشنهادی، طراحي گرديده است. در سطح پايين با تعريف و مينيمم‌کردن بهينه يک تابع هزينه، سيگنال‌هاي نيرو و گشتاور مناسب براي اعمال به چرخ‌ها تعيين گردیده و در نهايت کارایي کنترل‌کننده پيشنهادي با انجام شبيه‌سازي در نرم‌افزارهاي MATLAB و CARSIM تأييد شده است.
In this paper, a new controller, for lateral stabilization of four wheel independent drive type electric vehicles without mechanical differential, is proposed. The proposed controller has three levels includes high, medium and low control level. Desired vehicle dynamics such as reference longitudinal speed and reference yaw rate are determined by higher level of controller. In this paper, a new sliding mode controller is proposed and its stability is proved by Lyapunov stability theorem. This sliding mode control structure is faster, more accurate, more robust, and with smaller chattering than common sliding mode controllers. Based on the proposed sliding mode controller, the medium control level is designed to determine the desired traction force and yaw moment. In the lower level controller, suitable wheel forces and torques are calculated by an optimal cost function minimizing. Finally, the effectiveness of the introduced controller is investigated through conducted simulations
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