张渊博 , 王伟达 , 张华 , 等 . 基于新型改进遗传算法的混合动力客车高效制动能量回收预测控制策略研究 [J ] . 机械工程学报 , 2020 , 56 ( 18 ): 105 - 115 . DOI: 10.3901/JME.2020.18.105 http://doi.org/10.3901/JME.2020.18.105 制动能量回收是提升混合动力客车燃油经济性的核心技术之一。然而基于传统客车机械制动系统与制动能量回收系统集成的混合制动系统，在多种复杂市区、郊区甚至极限工况下，如何通过合理分配再生制动力矩和摩擦机械制动力矩，保证整车稳定性和经济性均衡最优，仍为新能源汽车领域亟待解决的难题。为此，提出一种基于新型改进遗传算法的混合动力客车高效制动能量回收控制策略。结合混合制动系统结构与动力学特性，搭建7自由度整车纵向动力学模型；考虑轮胎在临界稳定区域的高度非线性以及制动过程中稳定性、经济性等性能要求的多目标特性，采用遗传算法对有限时域内的前后轴机械制动力矩及电机制动力矩的最优分配问题进行预测求解，并采取滚动优化策略实现整个制动过程的最优控制，同时为了防止在预测域内收敛于局部最优解，设计多子种群各自迭代并组合优化的方法对遗传算法进行改进；基于多维表格和最近点的方法对该控制策略进行实时化处理，并完成仿真与硬件在环试验。试验结果表明提出策略在保证整车稳定性的同时，较实车控制器中采用的规则式控制策略，提升15%的制动能量回收率。

ZHANG Y B , WANG W D , ZHANG H , et al . Research on modified genetic algorithm-based high efficiency predictive regenerative braking control strategy for hybrid electric bus [J ] . Journal of Mechanical Engineering , 2020 , 56 ( 18 ): 105 - 115 . (in Chinese) DOI: 10.3901/JME.2020.18.105 http://doi.org/10.3901/JME.2020.18.105 Regenerative braking technology of electric vehicle is one of the main technologies to improve its economy. However, based on the hybrid braking system which integrates traditional mechanical braking system and regenerative braking system, how to reasonably distribute regenerative braking torque and friction mechanical braking torque to ensure the overall optimization of vehicle stability and economy in multiple complex working conditions is still a challenge. To solve this problem, an efficiency predictive regenerative braking control strategy based on modified genetic algorithm is proposed. Firstly, a 7 degree of freedom longitudinal vehicle dynamic model is built according to the braking system mechanical structure and dynamic characteristics. Then, considering the high non-linearity of tire in the unstable region and the multi-objective characteristics of stability, economy and other performance requirements in the braking process, the genetic algorithm is used to solve the optimal braking torque distribution problem in finite time domain, and the rolling optimization method is adopted to achieve the optimal control of the whole braking process. At the same time, in order to prevent that calculation result converges to local optimal solution, some modified methods are designed to improve the genetic algorithm; finally, based on the multi-dimensional table and the nearest point method, the real-time calculation of control strategy is realized, and the simulation and hardware in the loop tests are completed. The test results show that the proposed strategy can not only ensure the stability of the whole vehicle, but also improve the braking energy recovery by 15% compared with the regular control strategy which is used in the real vehicle controller.

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NAH J , SEO J S , YI K S , et al . Friction circle estimation-based torque distribution control of six-wheeled independent driving vehicles for terrain-driving performance [J ] . Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering , 2015 , 229 ( 11 ): 1469 - 1482 . DOI: 10.1177/0954407014564780 http://doi.org/10.1177/0954407014564780 http://journals.sagepub.com/doi/10.1177/0954407014564780 http://journals.sagepub.com/doi/10.1177/0954407014564780 This paper describes torque distribution control of six-wheeled in-wheel motor vehicles by considering the friction circle of each wheel for enhanced terrain-driving performance. Using control allocation, the proposed torque distribution algorithm determines the torque command to each wheel, by considering the size of the friction circle. The friction circle of each wheel is estimated using a linear parameterized tyre model with two threshold values. The parameters and the threshold values are computed from measurements of the wheel speed, the yaw rate, the acceleration and the torque command signals using a recursive least-squares method. Simulation studies were conducted using TruckSim and MATLAB/Simulink co-simulations. It was confirmed that the proposed friction circle estimation algorithm can be successfully used for torque distribution to enhance the terrain-driving and hill-climbing performance.

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刘聪 , 刘辉 , 韩立金 , 等 . 分布式电驱动车辆极限越野环境下高速避障与稳定性控制 [J ] . 兵工学报 , 2021 , 42 ( 10 ): 2102 - 2113 .

LIU C , LIU H , HAN L J , et al . High-speed obstacle avoidance and stability control of distributed electric drive vehicle under extreme off-road conditions [J ] . Acta Armamentarii , 2021 , 42 ( 10 ): 2102 - 2113 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.10.006 http://doi.org/10.3969/j.issn.1000-1093.2021.10.006 A layered coordinated lateral stability control method is proposed to improve the high-speed obstacle avoidance ability and handling stability of distributed electric drive vehicles in extreme off-road environment, in which the attitude feedback of vehicle during cornering is fully considered. The upper controller combines the multi-model online modeling algorithm with the nonlinear model predictive control theory, and a coordinated control strategy for yaw and roll motion based on data-driven multi-model predictive control is proposed. Considering that the optimal control center is time-varying under different lateral instability states of vehicle, a two-level integrated yaw dynamic model is refined and reconstructed.Considering the time-varying road curvature and lateral slope angle under off-road conditions, a zero-moment point-based rollover instability judgment model is constructed, and the rollover stability control constraint is introduced on the basis of yaw stability control. The lower level controller converts the fused yaw moment into each wheel drive torque based on the quadratic programming algorithm. The joint simulation of MATLAB/Simulink and Carsim was built for test verification. The results show that the proposed layered coordinated control method can give full play to the high maneuverability of distributed electric drive vehicles under extreme off-road condition, which has a strong body attitude correction ability, and can improve the path tracking accuracy and the lateral stability of vehicle during cornering.

蔡立春 , 廖自力 , 李嘉麒 , 等 . 8×8分布式电驱动装甲车辆稳定性直接横摆力矩与转矩矢量控制 [J ] . 兵工学报 , 2021 , 42 ( 10 ): 2196 - 2205 . DOI: 10.3969/j.issn.1000-1093.2021.10.015 http://doi.org/10.3969/j.issn.1000-1093.2021.10.015 为提高车辆的行驶稳定性，发挥轮毂电机驱动的优势，提出一种8×8分布式电驱动轮式装甲车辆直接横摆力矩与转矩矢量控制方法。建立车辆的线性二自由度模型，求得期望横摆角速度和质心侧偏角。设计一种分层控制器：上层控制器为协调横摆角速度和质心侧偏角，采用滑模控制对两个变量的控制输出分别进行计算，并设计加权函数，得到横摆力矩输出；下层控制器将8个车 轮按轴分为4组矢量，根据横摆力矩和纵向力需求，按照转矩矢量合成的方法得到各轮转矩。实时仿真实验结果表明，该控制方法能合理分配车轮转矩，有效控制横摆角速度，提高车辆的行驶稳定性。

CAI L C , LIAO Z L , LI J Q , et al . Direct yaw moment and torque vector control for stability of 8×8 distributed electric drive armored vehicles [J ] . Acta Armamentarii , 2021 , 42 ( 10 ): 2196 - 2205 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.10.015 http://doi.org/10.3969/j.issn.1000-1093.2021.10.015 A direct yaw and torque vector control method for 8×8 distributed electric drive armored vehicles is proposed to improve the vehicle's driving stability and take advantage of the hub motor drive.A linear 2-DOF model of vehicle is established to calculate the desired yaw rate and the sideslip angle.A hierarchical controller is designed based on this model. The upper controller is to coordinate the yaw rate and the sideslip angle. The control outputs of the two variables are calculated by using sliding mode control，and the weight function is designed to obtain the yaw torque output. The lower controller divides the eight wheels into four groups according to the axis. Then the torque of each wheel can be obtained according to the yaw moment and longitudinal force by the torque vector synthesis. The real-time simulated results show that the proposed control method can distribute the wheel torque reasonably，control the yaw rate effectively，and improve the vehicle's driving stability.

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