Cooperative Control for Distributed Drive Vehicle and Active Rear Wheel Steering
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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。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.
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Key words:
- ARS /
- distributed drive /
- cooperative controller /
- DYC /
- SM-VSC
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图 10 质心侧偏角对比(图 9局部放大)
图 12 横摆角速度-质心侧偏角相图(图 11局部放大)
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 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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