主动后轮转向及分布式驱动车辆协同控制研究

彭文正; 敖银辉; 邹晨祺; 林子鹏; 翁思贤

doi:10.13433/j.cnki.1003-8728.20190101

主动后轮转向及分布式驱动车辆协同控制研究

doi: 10.13433/j.cnki.1003-8728.20190101

1.
广东工业大学机电工程学院, 广州 510006
2.
华南理工大学机械与汽车工程学院, 广州 510641

详细信息

作者简介:
彭文正(1996-), 硕士研究生, 研究方向为车辆导航与轨迹跟踪, 车辆底盘控制, 358799851@qq.com

通讯作者:
敖银辉, 教授, 硕士生导师, 352351582@qq.com

中图分类号: U461.6
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- 文章访问数: 353
- HTML全文浏览量: 98
- PDF下载量: 47
- 被引次数: 0
出版历程
- 收稿日期: 2019-11-24
- 刊出日期: 2020-02-05

Cooperative Control for Distributed Drive Vehicle and Active Rear Wheel Steering

1.
College of Mechanical and Electrical Engineering, Guangdong University of Technology, Guangzhou 510006, China
2.
College of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510641, China

摘要

摘要: 为有效地改善车辆操纵稳定性，设计了主动后轮转向系统（ARS）与基于直接横摆力矩控制（DYC）的双电机分布式驱动系统协同控制方法，并将其应用于FSAE赛车。首先建立ARS及DYC车辆的二自由度模型；基于滑模变结构控制方法，提出协同控制模型，通过ASR控制器控制后轮转向角，减小车辆质心侧偏角，以及直接横摆力矩控制器（DYC）对两个后驱动轮的牵引力矩进行协调分配，实现横摆角速度的有效控制；最后，通过双移线测试仿真验证本文所提出的控制算法能够有效提高赛车弯道行驶的稳定性。
- 主动后轮转向 /
- 分布式驱动 /
- 协同控制 /
- 直接横摆力矩控制 /
- 滑模变结构控制
Abstract: In order to optimize the vehicle handling and stability, a cooperative controller was designed for active rear wheel steering (ARS) and dual-motor distributed drive system direct-yaw-moment-control (DYC), and which was applied to FSAE racing car. Firstly, a two-degree-of-freedom linear vehicle dynamic model is constructed. Secondly, based on the sliding mode variable structure control (SM-VSC), a cooperative controller was designed by consisting of ARS controller and DYC controller. The ARS controller controls rear steering angle to minimize the side slip angle, while the DYC controller optimizes yaw rate via controlling the distribution of driving moment between the two rear driving wheels. Finally, the simulation of double lane change was performed to investigate the effectiveness of the present strategy on the improving cornering performance.
- ARS /
- distributed drive /
- cooperative controller /
- DYC /
- SM-VSC

HTML全文

图 1 本文研究对象

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图 2 线性二自由度模型

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图 3 协同控制仿真模型原理图

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图 4 轮胎数据及参数辨识后的轮胎摩擦圆

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图 5 双移线仿真环境

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图 6 双移线目标路径

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图 7 后轮转角曲线

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图 8 横摆角速度对比

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图 9 质心侧偏角对比

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图 10 质心侧偏角对比(图 9局部放大)

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图 11 横摆角速度-质心侧偏角相图

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图 12 横摆角速度-质心侧偏角相图(图 11局部放大)

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表 1 滑模控制参数设定

ε₁	ε₂	K₁	K₂	λ₁	λ₂
0.01	0.01	30	20	0.1	0.1

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表 2 状态量偏差均方根值对比

控制类型	横摆角速度偏差均方根值(°·s^-1)	质心侧偏角均方根值/(°)
ARS+DYC	0.400 0	0.009 008
ARS	0.513 2	0.009 818
DYC	0.604 5	0.047 120

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参考文献(13)

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