摘要
本文中对四轮独立转向电动汽车的转向控制方法进行研究。首先,基于前轮转向车辆的理想横摆角速度模型,建立四轮独立转向2自由度动力学模型。接着,以四轮侧偏角之和绝对值最小化作为优化目标函数,以质心侧偏角为零和理想横摆角速度作为约束条件,采用线型优化算法求解系统前馈控制器。再以轮胎侧偏角和横摆转矩为输入建立线性控制模型,运用最优区域极点配置方法设计反馈控制器。最后,建立人-车-路闭环仿真系统,分别进行双移线道路仿真实验和对开路面上的行驶仿真实验。结果表明,控制器能根据路面附着情况分配各轮转角,保证车辆跟踪理想状态。实车双移线实验进一步验证了控制器对车辆理想状态良好的跟踪精度。
The steering control method for electric vehicle with four-wheel independent steering （4WIS） is studied in this paper. Firstly based on the ideal yaw rate model for vehicle with front wheel steering, a 2 DOF 4WIS dynamics model is established. Then with minimizing the absolute value of the sum of four tire side-slip angles as optimization objective function and the zero side-slip angle of mass center and ideal yaw rate as constraints, the linear optimization problem is solved with the feed-forward controller of system obtained. Next, the linear control model is set up with tire side-slip angles and yaw torque as inputs and the feedback controller is designed by using the method of optimum region pole assignment. Finally, a driver-vehicle-road closed loop simulation system is established and both simulation experiments of double lane change and driving on μ-split road are conducted with a result showing that the controllers designed can properly distribute the steering angles of all wheels according to road adhesion conditions and thus ensure the vehicle follow ideal state, and the subsequent real vehicle double-lane change experiment further verifies the good tracking accuracy of controllers for vehicle ideal state.
出处
《汽车工程》
EI
CSCD
北大核心
2015年第9期1029-1034,1046,共7页
Automotive Engineering
基金
教育部科学技术研究重点项目(211024)资助
