动力学与瞬时转向中心求解下的4WIS车辆的转向控制方法

来鑫; 陈辛波; 武晓俊; 梁栋

doi:10.13433/j.cnki.1003-8728.2016.1121

动力学与瞬时转向中心求解下的4WIS车辆的转向控制方法

doi: 10.13433/j.cnki.1003-8728.2016.1121

1.
上海理工大学机械工程学院, 上海 200093;
2.
同济大学新能源汽车工程中心, 上海 201804

基金项目:

国家自然科学基金项目（51505290）、国家863计划项目（SS2012AA110701）及上海高校青年教师培养计划项目资助

详细信息

作者简介:
来鑫(1983-),讲师,博士,研究方向为汽车电子控制、控制理论与工程,laixin@126.com

计量
- 文章访问数: 207
- HTML全文浏览量: 52
- PDF下载量: 16
- 被引次数: 0
出版历程
- 收稿日期: 2015-01-07
- 刊出日期: 2016-11-05

Steering Control Method of Four Wheel Independent Steering Vehicle Based on Dynamics and Instantaneous Center of Rotation Solver

1.
School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
2.
Clean Energy Automotive Engineering Center, Tongji University, Shanghai 201804, China

摘要

摘要: 为了提高四轮独立转向（4WIS）车辆的转向控制性能，建立4WIS车辆的二自由度动力学模型，求解4个车轮与参考轮之间的转向角关系。在车辆坐标系中建立车轮的运动学模型，通过对车辆瞬时转向中心（ICR）的求解得出各车轮的实时运动学误差表达式，在此基础上提出了一种“动力学-运动学”复合控制策略：依据动力学计算，得出4个车轮的转向角与参考轮之间的约束关系，通过构建网络控制系统，各车轮同时跟踪目标运动轨迹，提高转向控制系统的响应速度；实时运动学误差将各车轮转向角进行虚拟连接，4个车轮协同运动提高了转向控制的平稳性与鲁棒性。仿真结果表明，该控制策略对各车轮进行协调控制，使车辆运动实时满足动力学与运动学要求，具有运算简单、响应速度快、鲁棒性强等特点。最后通过实车实验验证了控制策略的有效性。
- 四轮独立转向(4WIS) /
- 瞬时转向中心(ICR) /
- 运动学误差 /
- 复合控制策略
Abstract: In order to improve the steering control performance of four wheels independent steering (4WIS) vehicle, a two-degree of freedom dynamics model of 4WIS vehicle is established and the angle relationship between the four wheels and reference wheel is solved. The kinematics model of four wheels is built in the vehicle coordinate system, and the real-time kinematics error is obtained by solving the instantaneous center of rotation (ICR) of vehicle. Based on these models, a kind strategy named dynamics and kinematics compound control is proposed, the constraint relationship of steering angle between four wheels and reference wheel is got according to the dynamics calculation, through the network control system each wheel tracking the target trajectory independently and simultaneously, so the response speed of the steering control system is improved. The virtual connection of each wheel steering angle is established by real-time kinematical error, so the stability and robustness of steering control is improved by four wheels real-time coordinated motion. The simulation results show that vehicle dynamics requirements are met through the coordination control of wheels. At last, the experimental results show that the control strategy is effective.
- four wheel independent steering (4WIS) /
- instantaneous center of rotation (ICR) /
- kinematics error /
- compound control strategy

HTML全文

参考文献(15)

[1]	舒进,陈思忠,杨林.四轮独立转向系统控制策略与试验[J].农业机械学报,2005,36(7):25-28,31 Shu J, Chen S Z, Yang L. Advanced vehicle control technology using four-wheel independent steering system[J]. Transactions of the Chinese Society for Agricultural Machinery, 2005,36(7):25-28,31(in Chinese)
[2]	Li Y H, Yang L M, Yang G L. Network-based coordinated motion control of large-scale transportation vehicles[J]. IEEE/ASME Transactions on Mechatronics, 2007,12(2):208-215
[3]	杨政.四轮独立转向车辆系统控制及运动学仿真[D].长沙:国防科技大学,2007 Yang Z. System control and kinematical simulation of four-wheel-independent-steering vehicle[D]. Changsha:National University of Defense Technology, 2007(in Chinese)
[4]	Christensen T B. Modularised eco-innovation in the auto industry[J]. Journal of Cleaner Production, 2011,19(2-3):212-220
[5]	Hori Y. Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march Ⅱ"[J]. IEEE Transactions on Industrial Electronics, 2004,51(5):954-962
[6]	Tu X Y. Robust navigation control and headland turning optimization of agricultural vehicles[D]. Iowa:Iowa State University, 2013
[7]	李刚,宗长富,陈国迎,等.线控四轮独立驱动轮毂电机电动车集成控制[J].吉林大学学报,2012,42(4):796-802 Li G, Zong C F, Chen G Y, et al. Integrated control for X-by-wire electric vehicle with 4 independently driven in-wheel motors[J]. Journal of Jilin University, 2012,42(4):796-802(in Chinese)
[8]	宗长富,李刚,郑宏宇,等.线控汽车底盘控制技术研究进展及展望[J].中国公路学报,2013,26(2):160-176 Zong C F, Li G, Zheng H Y, et al. Study progress and outlook of chassis control technology for X-by-wire automobile[J]. China Journal of Highway and Transport, 2013,26(2):160-176(in Chinese)
[9]	卓桂荣,陈辛波,余卓平,等.全方位线控四轮转向电动汽车设计[J].机械设计,2005,22(2):29-32 Zhuo G R, Chen X B, Yu Z P, et al. Design of an omnidirectional wire controlled four wheels steering electric car[J]. Journal of Machine Design, 2005,22(2):29-32(in Chinese)
[10]	卓桂荣,余卓平,陈辛波.原地转向电动汽车参数化模型的建立[J].计算机集成制造系统,2005,11(5):664-668 Zhuo G R, Yu Z P, Chen X B. Parameterized modeling of spot steering electric vehicle[J]. Computer Integrated Manufacturing Systems, 2005,11(5):664-668(in Chinese)
[11]	杨福广,李贻斌,阮久宏,等.基于T-S模型的4WS汽车转向角协调控制研究[J].系统仿真学报,2009,21(11):3356-3359,3377 Yang F G, Li Y B, Ruan J H, et al. T-S model-based study on 4WS vehicle coordinate steering control[J]. Journal of System Simulation, 2009,21(11):3356-3359,3377(in Chinese)
[12]	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)
[13]	Oshima H, Tani M, Kobayashi N, et al. Control for four-wheel individual steering and four-wheel driven electronic vehicle[J]. Electrical Engineering in Japan, 2005,153(3):71-78
[14]	Lai X, Chen X B, Wu X J, et al. A study on control system for four-wheels independent driving and steering electric vehicle[J]. Applied Mechanics and Materials, 2015,701-702:807-811
[15]	刘锦波,张承慧.电机与拖动[M].北京:清华大学出版社,2006 Liu J B, Zhang C H. Electronic motor and drag[M]. Beijing:Tsinghua University Press, 2006(in Chinese)