پايدارسازي جانبي خودروي الکتريکي چهارچرخ محرک با استفاده از يک کنترل‌کننده سه‌لايه و کنترل مد لغزشی
الموضوعات :
حسن علی‌پور
1
(دانشگاه تبریز)
مهران صباحي
2
(دانشگاه تبريز)
محمدباقر بناءشریفیان
3
(دانشگاه تبریز)
الکلمات المفتاحية: خودروي الکتريکي چهارچرخ محرک کنترل پايداري جانبي کنترل مد لغزشی کنترل نرخ ياو,
ملخص المقالة :
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.
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