Research on hierarchical control system based on distributed drive vehicle
At present,the reason why the car is not widely used to drive the wheel is that the cost is considered,and the second is that the loading of the wheel motor greatly increases the sprung mass,which has a greater impact on the handling stability of the vehicle during the driving process.This paper takes a distributed drive vehicle as the research object and designs a layered control system:the upper controller performs decoupling control on the total lateral movement of the vehicle,in which the longitudinal PID control is used to track the longitudinal speed,and the transverse sliding mode controller is designed to calculate the required steering wheel Angle.In the middle layer,fuzzy control is used to calculate the additional yaw moment required to maintain the vehicle's running stability.The bottom layer takes the utilization rate of tire adhesion as the optimization objective to optimize the torque distribution.The simulation test shows that the layered control system designed in this paper can effectively reduce the yaw speed of the vehicle during driving by16%-48%and the side deflection Angle of the center of mass by62%-67%,which can in-hibit the deviation between the actual value and the ideal value,and improve the safety and comfort of the vehicle during driving.
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维普
