【摘要】 针对四轮独立转向-独立驱动(4WIS-4WID)车辆,应用滑模变结构控制理论,设计前、后轮主动转向(AFS+ARS)控制器、横摆角速度直接横摆力矩控制(DYC)控制器和质心侧偏角DYC控制器。为协调横摆角速度和质心侧偏角间的耦合设计了协调控制器,对附加横摆力矩实施车轮驱动/制动协同分配。引入2自由度4WIS-4WID车辆参考模型,并将其横摆角速度和质心侧偏角的状态反馈给AFS+ARS控制器,完成AFS+ARS和DYC控制系统的集成。加入不确定车辆自身参数和阵风干扰,将控制策略应用于16自由度4WIS-4WID车辆模型上进行仿真验证,并与单纯AFS+ARS、传统PID和差压制动的DYC进行对比。结果表明,所设计的控制策略同时提高了系统的抗干扰性和精确性;拓展了系统的稳定域,进一步提高了车辆的主动安全性。更多还原

【Abstract】 The active front steering and active rear steering(AFS + ARS) controllers,the direct yaw-moment controllers(DYCs) for yaw rate and sideslip angle are designed for a four-wheel independent steering,fourwheel independent drive(4WIS-4WID) vehicle by applying the theory of slide-mode variable structure control.For coordinating the coupling between yaw rate and sideslip angle,a coordinated controller is designed and a wheel drive / brake co-distribution is implemented for additional yaw moment.Then a 2 DOF 4WIS-4WID vehicle reference model is introduced with its yaw rate and sideslip angle state variables fed back to AFS + ARS controller to complete AFS + ARS and DYC control system integration.Finally with vehicle uncertain parameters and gust disturbance added,the control strategy is applied to a 16-DOF 4WIS-4WID vehicle model to conduct simulation verification and comparison with AFS + ARS and DYCs for conventional PID and differential braking.The results show that the control strategy designed improves both the disturbance resistance and accuracy of system,expands the stable region of system and further enhances the active safety of vehicle.更多还原