【摘要】 针对极限工况下匹配机械弹性电动轮（mechanical elastic electric wheel, MEEW）的汽车由于底盘强耦合特性而产生的子系统干涉问题进行研究.以主动前轮转向（active front-wheel steering, AFS）系统与直接横摆力矩控制（direct yaw moment control, DYC）系统为研究对象，利用非合作反馈Nash均衡博弈理论设计了子系统权重可变的博弈协调控制器，通过耦合黎卡提方程及其迭代变换求得在Nash均衡点处的理想输出结果.通过CarSim/Simulink联合仿真平台对控制机构进行车速为100 km·h^-1、路面附着系数为0.3的双移线工况仿真试验.结果表明：所设计的协调控制器能够实现AFS/DYC实时协调，在极限工况下，匹配MEEW的汽车在该控制器作用下的稳定性优于单一叠加最优控制器作用的稳定性，且汽车的质心侧偏角和横摆角速度的跟踪误差分别为0.48°～0.81°和0.035～0.425 （°）·s^-1.更多还原

【Abstract】 The subsystem interference problem due to chassis strong coupling characteristics of vehicles matching mechanical elastic electric wheel（MEEW） under extreme conditions was investigated. Taking active front-wheel steering（AFS） system and direct yaw moment control（DYC） system as research objects, a game coordination controller with variable subsystem weights was designed by non-cooperative feedback Nash equilibrium game theory, and the ideal output at Nash equilibrium point was obtained by coupled Riccati equation and its iterative transformation. A joint simulation platform of CarSim/Simulink was built to carry out the simulation test with the vehicle speed of 100 km·h^-1 and road adhesion coefficient of 0.3 under double shift condition. The results show that the designed coordination controller can realize the real-time coordination of AFS/DYC. The stability of the vehicle matching MEEW under the action of the designed controller is better than that of the single superimposed controller, and the tracking errors of the side slip angle and yaw rate of vehicle are within 0.48°-0.81° and 0.035-0.425（°）·s^-1, respectively.更多还原