四轮分布式线控转向系统稳定与协调控制研究
Research on Stability and Coordination Control of Four-wheel Distributed Steering-by-wire System
张寒 1刘开华 1王春燕 1赵万忠 1栾众楷1
作者信息
- 1. 南京航空航天大学能源与动力学院 南京 210000;江苏省车辆分布式驱动与智能线控技术工程研究中心 南京 210016
- 折叠
摘要
四轮分布式线控转向车辆拥有四个独立控制的车轮,在行驶过程中受到外界干扰时容易导致四个车轮转角响应不同步,从而影响车辆行驶稳定性.提出一种分层式四轮分布式线控转向系统稳定与协调控制策略,上层采用模型预测控制算法计算参考四轮转角对理想的横摆角速度和质心侧偏角进行跟踪从而实现车辆的稳定性控制,下层采用超扭转二阶滑模控制算法跟踪上层计算出的参考车轮转角,提高执行机构响应速度和精度,消除干扰影响.通过Carsim和Matlab/Simulink联合仿真对提出的稳定与协调控制策略进行不同工况下的仿真验证.结果表明,在受到外界干扰时,所提出的稳定与协调控制策略能够大幅降低转向执行机构的跟踪时延,提高横摆角速度和质心侧偏角的跟踪效果,有效提升四轮分布式线控转向车辆的稳定性.
Abstract
Four separately controlled wheels on four-wheel distributed steer-by-wire vehicles can easily result in out-of-phase wheel rotation responses when driving,which can cause instability.A hierarchical four-wheel distributed steering system stability and coordination control approach is proposed.The upper layer calculates reference four wheel steering angles using a model predictive control method to track the ideal yaw rate and sideslip angle,accomplishing vehicle stability control.To actuate the reference wheel angles generated by the upper layer,the lower layer employs a super-twisting second-order sliding mode control method,which improves the actuator's response speed and precision while reducing the influence of disturbances.Through collaborative simulation using Carsim and Matlab/Simulink under various operating situations,the proposed stability and coordination control technique is validated.The results demonstrate that the proposed stability and coordination control strategy can effectively increase the stability of the four-wheel distributed steer-by-wire vehicle by reducing the tracking delay of the steering actuator when subjected to external disturbances and improving the tracking performance of the yaw rate and sideslip angle.
关键词
线控转向/四轮分布式转向/模型预测控制/滑模控制/车轮转角跟踪/协调控制Key words
steer-by-wire/four-wheel distributed steering/model predictive control/sliding mode control/wheel steering angle tracking/coordination control引用本文复制引用
基金项目
国家自然科学基金(52102435)
国家自然科学基金(52072175)
中央高校基本科研业务费(NS2022030)
江苏省杰出青年基金(BK20220078)
江苏省重点研发计划(BE2022053)
江苏省卓博计划(2023ZB682)
出版年
2024
NETL
NSTL
万方数据