新型电动轮转向系统AFS与DYC联合控制策略

魏建伟; 赵万忠

doi:10.13433/j.cnki.1003-8728.2018.0116

新型电动轮转向系统AFS与DYC联合控制策略

doi: 10.13433/j.cnki.1003-8728.2018.0116

魏建伟¹,
赵万忠²

1.
宁波工程学院机械工程学院, 浙江宁波 315336;
2.
南京航空航天大学能源与动力学院, 南京 210016

基金项目:

国家自然科学基金项目（51375007）、浙江省公益技术应用研究计划项目（2017C35011）及宁波市自然科学基金项目（2015A610148）资助

详细信息

作者简介:
魏建伟(1983-),讲师,博士,研究方向为汽车系统动力学控制,jianweinb@163.com

计量
- 文章访问数: 172
- HTML全文浏览量: 25
- PDF下载量: 8
- 被引次数: 0
出版历程
- 收稿日期: 2016-10-31
- 刊出日期: 2018-01-15

Combination Control Strategy of AFS and DYC for a Novel Differential Steering System with In-wheel Motor

Wei Jianwei¹,
Zhao Wanzhong²

1.
School of Mechanical Engineering, Ningbo University of Technology, Zhejiang Ningbo 315336, China;
2.
College of Energy & Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

摘要

摘要: 提出一种实现主动转向和直接横摆力矩控制功能的新型电动轮转向系统。介绍了新型电动轮转向系统的系统结构和基本工作原理，并建立了新型电动轮转向系统与整车机电耦合的动力学模型。提出了主动转向（AFS）与直接横摆力矩控制（DYC）的联合控制策略，并基于LQR最优控制理论进行了控制器的设计。为验证所提出的AFS与DYC联合控制策略的有效性，进行了有侧向风作用的极限工况仿真试验。仿真结果表明，所提出的AFS与DYC联合控制策略是有效的，进一步提高了汽车在极限工况下行驶的侧向稳定性。
- 电动轮汽车 /
- 主动转向 /
- 直接横摆力矩控制 /
- 控制
Abstract: A novel differential steering system with in-wheel motor was proposed, by which active steering (AFS) function and direct yaw-moment control (DYC) function can be realized. System structure and basic operation principle of the novel differential steering system with in-wheel motor were described in detail, as well as dynamic models of electro-mechanical coupling for the novel steering system and vehicle were built. Then, combination control strategy of active steering and direct yaw-moment control was proposed, as well as controller was designed based on linear quadratic regulator (LQR) control theory. To verify the effectiveness of the combination control strategy of AFS and DYC, simulation test in limiting condition with the intervention of lateral wind force was conducted. Simulation results indicate that the combination control strategy of AFS and DYC proposed in this paper is effective, which can further improve the lateral stability of the vehicle that driving at the limiting condition.
- electric vehicle in-wheel motor /
- active steering /
- direct yaw-moment control /
- control

HTML全文

参考文献(23)

[1]	Karbalaei R, Ghaffari A, Kazemi R, et al. Design of an integrated AFS/DYC based on fuzzy logic control[C]//Proceedings of 2007 IEEE International Conference on Vehicular Electronics and Safety. Beijing, China:IEEE, 2007:1655-1661
[2]	Nagai M, Shino M, Gao F. Study on integrated control of active front steer angle and direct yaw moment[J]. JSAE Review, 2002,23(3):309-315
[3]	杨福广,阮久宏,李贻斌,等.4WID-4WIS车辆横摆运动AFS+ARS+DYC模糊控制[J].农业机械学报,2011,42(10):6-12 Yang F G, Ruan J H, Li Y B, et al. 4WID-4WIS vehicle yaw control based on fuzzy logic control of AFS+ARS+DYC[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011,42(10):6-12(in Chinese)
[4]	刘力,罗禹贡,江青云,等.基于广义预测理论的AFS/DYC底盘一体化控制[J].汽车工程,2011,33(1):52-55,46 Liu L, Luo Y G, Jiang Q Y, et al. Integrated chassis control with AFS/DYC based on generalized predictive theory[J]. Automotive Engineering, 2011, 33(1):52-55,46(in Chinese)
[5]	李刚,宗长富,陈国迎,等.线控转向四轮独立驱动电动车的AFS/DYC集成控制[J].华南理工大学学报(自然科学版),2012,40(3):150-155 Li G, Zong C F, Chen G Y, et al. Integrated AFS/DYC control of steering-by-wire 4wid electric vehicle[J]. Journal of South China University of Technology (Natural Science Edition), 2012,40(3):150-155(in Chinese)
[6]	Li G, Hong W, Liang H Q. Four-wheel independently driven in-wheel motors electric vehicle AFS and DYC integrated control[R]. SAE Technical Paper 2012-01-0258. USA:SAE Publication Group, 2012
[7]	张聪,王振臣,程菊,等.4WIS-4WID车辆横摆稳定性AFS+ARS+DYC滑模控制[J].汽车工程,2014,36(3):304-309,320 Zang C, Wang Z C, Cheng J, et al. Sliding mode control of AFS+ARS+DYC for the yaw stability of a 4WIS-4WID vehicle[J]. Automotive Engineering, 2014,36(3):304-309,320(in Chinese)
[8]	Yim S, Kim S, Yun H. Coordinated control with electronic stability control and active front steering using the optimum yaw moment distribution under a lateral force constraint on the active front steering[J]. Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2016,230(5):581-592
[9]	Murata S. Vehicle dynamics innovation with in-wheel motor[R]. SAE Technical Paper 2011-39-7204. USA:SAE Publication Group, 2011
[10]	Watts A, Vallance A, Whitehead A, et al. The technology and economics of in-wheel motors[J]. SAE International Journal of Passenger Cars-Electronic and Electrical Systems, 2010,3(2):37-55
[11]	王庆年,王军年,靳立强,等.用于电动轮驱动汽车的差动助力转向[J].吉林大学学报(工学版),2009,39(1):1-6 Wang Q N, Wang J N, Jin L Q, et al. Differential assisted steering applied on electric vehicle with electric motored wheels[J]. Journal of Jilin University (Engineering and Technology Edition), 2009,36(1):1-6(in Chinese)
[12]	赵万忠,王春燕, 孙培坤,等.基于质量工程的电动轮汽车差速转向集成优化方法初探[J].中国科学:技术科学,2012,42(2):188-194 Zhao W Z, Wang C Y, Sun P K, et al. Primary studies on integration optimization of differential steering of electric vehicle with motorized wheels based on quality engineering[J]. Science China Technological Sciences, 2011,54(11):3047-3053(in Chinese)
[13]	Leng B, Xiong L, Jin C, et, al. Differential drive assisted steering control for an in-wheel motor electric vehicle[R]. SAE Technical Paper 2015-01-1599. USA:SAE Publication Group, 2015
[14]	Imen A, Nafaa J, Lilia E A. Optimal control approach developed to four-wheel active steering vehicles[C]//Proceedings of the 5th International Conference on Modeling, Simulation and Applied Optimization. Hammamet, Tunisia:IEEE, 2013:1-6
[15]	施国标,赵万忠,王成玲,等.线控转向变传动比控制对车辆操纵稳定性的影响[J].北京理工大学学报,2008,28(3):207-210,236 Shi G B, Zhao W Z, Wang C L, et al. Influence of variable steering ratio for steer-by-wire system on vehicle handling stability[J]. Transactions of Beijing Institute of Technology, 2008,28(3):207-210,236(in Chinese)
[16]	魏建伟,魏民祥,赵万忠.基于人-车-路闭环系统的变传动比控制规律[J].江苏大学学报(自然科学版),2011,32(6):652-657 Wei J W, Wei M X, Zhao W Z. Control law of varied steering ratio based on driver-vehicle-road closed-loop system[J]. Journal of Jiangsu University (Natural Science Edition), 2011,32(6):652-657(in Chinese)
[17]	Nagai M, Yamanaka S, Hirano Y. Integrated control of active rear wheel steering and yaw moment control using braking forces[J]. JSME International Journal Series C, 1999, 42(2):301-308
[18]	Wei J W, Zhao W Z, Shang W Y. Double closed-loop control scheme of yaw rate for active front steering system[J]. WSEAS Transactions on Systems and Control, 2014,9:150-159
[19]	Doniselli C, Mastinu G, Cal R. Traction control for front-wheel-drive vehicles[J]. Vehicle System Dynamics, 1994,23(s1):87-104
[20]	胡寿松,王执铨,胡维礼.最优控制理论与系统[M]. 2版.北京:科学出版社,2005:212-222 Hu S S, Wang Z Q, Hu W L. Optimal control theory and system[M]. 2nd ed. Beijing:Science Press, 2005:212-222(in Chinese)
[21]	杜峰,李伦,魏朗,等.模型跟踪主动四轮转向汽车最优控制研究[J].拖拉机与农用运输车,2009,36(1):16-18,21 Du F, Li L, Wei L, et al. Optimal control for active 4WS vehicle based on model tracking technology[J]. Tractor & Farm Transporter, 2009,36(1):16-18,21(in Chinese)
[22]	Salaani M K, Heydinger G J, Grygier P A. Vehicle on-center directional and steering sensitivity[R]. SAE Technical Paper 2005-01-0395. USA:SAE Publication Group, 2005
[23]	Gawronski W K, Mellstrom J A. Field verification of the wind tunnel coefficients[R]. The Telecommunications and Data Acquisition Progress Report 42-119, 1994:210-220