Design And Study On Driving System Of FSAC Racing Car

The Formula Student autonomous China(FSAC)conforms to the development trend of intelligent,energy-saving and environmentally friendly automotive technology.Among them,the driving system of FSAC racing car is the core component,which directly affects the racing performance,so the driving system is of great significance.In the FSAC competition,the high-speed tracking test is a very important event,therefore,it is particularly important to ensure the high-speed tracking performance of the FSAC car.It can be judged by the path tracking performance,and the lateral stability directly affects the path tracking performance.Based on the FSAC racing car A05 of Guangdong University of Technology,this paper designs and studies the rear-wheel dual-motor distributed driving system and its control algorithm.By enhancing the lateral stability,the path tracking performance is improved.The main research contents are:(1)After introducing the basic structure of the FSAC racing car,the structure and arrangement of the driving system of the racing car were explored,and the four major FSAC competition items were analyzed to determine the performance indicators of the driving system and the power of the driving system.The motor,transmission ratio and battery pack are used for parameter matching.(2)Before designing the driving system control algorithm,this paper firstly established the system model,including the track centerline model based on natural cubic spline interpolation algorithm,kinematics model and seven degrees of freedom dynamic model,desired model and autonomous steering model.(3)Considering the impact of changes in vehicle speed on system control performance,T-S fuzzy modeling technology is used to reconstruct the system state space model,and then a multi-objective controller is designed based on the principle of model predictive control.Through the tire torque distributor to optimize the driving torque of the left and right rear wheels,finally,the lateral stability control and path tracking control are achieved.In order to further enhance the lateral stability,the driving torque gain link is designed with the principle of fuzzy adaptive control to adjust the driving torque of the left and right rear wheels.In order to verify the rationality of the designed drive system and the effectiveness of the control algorithm,this paper based on the Carsim-Simulink co-simulation platform,respectively set up double-shift line simulation conditions and three-curve simulation conditions to simulate the maneuverability in handling-stability test and high-speed tracking test items.The simulation results show that the designed rear-wheel dual-motor distributed drive system and its control algorithm effectively enhance the lateral stability of the car,thereby effectively improving the path tracking performance of the car.