摘要
为了解决四轮转向(FWS)和主动驱动控制(ADC)两种并存底盘控制系统的潜在冲突问题,进一步提高车辆的横向稳定性,基于博弈论有关理论,提出了一种开环信息模式下转向与行驶稳定性控制系统的协同控制策略。为了实现协同控制策略,在博弈论架构内,将四轮转向(FWS)和主动驱动控制(ADC)两个相关控制系统视为两个博弈者,采用一种权值可调节的车轮转矩分配方法及内环加外环控制回路将博弈论的思想引入到协同控制系统中,同时采用微分博弈模型对两个子系统的动态交互进行建模和求解,用以实现基于博弈的两种底盘控制系统的协同配合控制。为了验证协同控制策略的有效性,对模型进行了Carsim/Simulink联合仿真测试。仿真结果表明,在侧滑角和横摆角速度相同及在较大转矩干预的情况下,基于博弈论的协同控制策略可以合理协调四轮转向(FWS)和主动驱动控制(ADC)两个相关控制系统的控制权限,使得微分博弈控制的响应幅值和对纵向动力学的影响比LQR控制的要小,能有效提高车辆的横向稳定性。
In order to solve the potential conflict between the two co-existing chassis control systems of four-wheel steering(FWS)and active drive control(ADC),and further improve the lateral stability of the vehicle,a cooperative control strategy of steering and driving stability control system in open-loop information mode was proposed based on game theory.In order to realize the cooperative control strategy,within the framework of game theory,the four-wheel steering(FWS)and active drive control(ADC)control systems were regarded as two players.A weight adjustable wheel torque distribution method and an inner loop plus an outer loop control loop were used to introduce the idea of game theory into the cooperative control system.At the same time,the differential game model was used to model and solve the dynamic interaction between the two subsystems.It was used to realize the cooperative control of two chassis control systems based on game theory.In order to verify the effectiveness of the cooperative control strategy,the model was tested by Carsim/Simulink joint simulation.The simulation results show that the cooperative control strategy based on game theory can reasonably coordinate the control authority of four-wheel steering(FWS)and active drive control(ADC)under the conditions of the same side slip angle and yaw rate and large torque intervention,so that the response amplitude of differential game control and its impact on longitudinal dynamics are smaller than that of LQR control,and can effectively improve the lateral stability of vehicles.
作者
刘贻华
Liu Yihua(College of Intelligent Manufacturing,Guangdong Technology College,Zhaoqing,Guangdong 526100,China)
出处
《机电工程技术》
2022年第10期103-107,共5页
Mechanical & Electrical Engineering Technology
关键词
博弈论
转向控制
驱动控制
协同控制
game theory
steering control
drive control
coordinated control
