摘要
介绍了一种四轮独立驱动与转向(Four-Wheel Independent Driving and Steering,4WIS-4WID)电动车辆的结构和原理,对其电子操纵系统进行了设计,在此基础上构建了一种基于CAN总线的车辆运动网络控制系统。该电动车辆具有全轮转向、前(后)轮转向、平行移动、原地转向等多种转向模式,分别对这些运动转向模式进行运动学建模。在控制策略上提出了一种分布式"位置—速度"双环反馈控制策略,各车轮转向角同时调节,车轮运动动态跟踪性能良好,车辆满足实时运动学要求。最后通过实车试验验证了网络控制系统结构和控制策略的有效性。
The structure and principles of tbur-wheel independent driving and steering （4WIS-4WID） electric vehicles were presented and the electric operating and control system was designed.On this basis the structure of network control system based on CAN bus was built. The typical steering modes in 4WIS- 4WID include four-wheel steering, front （rear） wheel steering, parallel steering and zero-radius steering. Kinematics models of these typical steering modes were built, and the distributed ＂position - speed＂ doubleloop fbedback control strategy was presented. The steering angles were simultaneously adjusted, so the better dynamic tracking performance was achieved while the kinematics requirements of vehicle can be met in real time. The experimental results show that the control system structure and control algorithm were effective.
出处
《汽车工程学报》
2015年第5期334-340,共7页
Chinese Journal of Automotive Engineering
基金
国家高技术研究发展计划(863计划)(SS2012AA110701)
上海高校青年教师培养资助计划
关键词
电动车辆
四轮独立驱动与转向
运动学建模
控制策略
electric vehicle
fbur-wheel independent driving and steering
kinematics model
control algorithm
