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所属单位：能源与动力学院

发表刊物：MECHANICAL SYSTEMS AND SIGNAL PROCESSING

关键字：Electric vehicle Decoupling control Nonlinear control mu-Synthesis

摘要：To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the mu-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice. (C) 2017 Elsevier Ltd. All rights reserved.

ISSN号：0888-3270

是否译文：否

发表时间：2018-02-15

合写作者：张寒

通讯作者：赵万忠