【作者】 张紫微； 郑玲； 李以农； 张志达； 曾迪；

【Author】 Zhang Ziwei;Zheng Ling;Li Yinong;Zhang Zhida;Zeng Di;Chongqing University,College of Mechanical and Vehicle Engineering;Chongqing University,State Key Laboratory of Mechanical Transmissions;

【机构】 重庆大学机械与运载工程学院； 重庆大学机械传动国家重点实验室；

【摘要】 为提升智能车辆跟踪控制器在不确定环境下的适应性,以四轮独立驱动车辆为研究对象,设计了基于主动转向(AFS)和主动横摆力矩(DYC)协同控制框架下的轨迹跟踪控制策略。首先,考虑到车辆在行驶过程中存在的轮胎侧偏刚度摄动、道路曲率扰动、传感器噪声等一系列不确定性因素的影响,分别基于滑模变结构和线性矩阵不等式(LMI)框架,设计了纵向速度控制器和可考虑控制目标优先级的鲁棒保性能跟踪控制器;其次,根据上层跟踪控制需求和车辆状态,基于最优化思想设计底层驱动力分配机制;最后,通过Carsim-Simulink联合仿真平台验证了算法的有效性。研究结果表明:与LQR和忽略外界干扰的保性能方法相比,本文所提出的协同控制策略具有良好的工况适应性和瞬态性能,即使在极端工况下也能使跟踪误差和车辆横向动力学响应快速收敛。更多还原

【Abstract】 In order to enhance the adaptability to uncertain driving environment,this paper proposes a novel coordinated active front steering and direct yaw movement control scheme for four-wheel-independently driving(4 WID) vehicle.Firstly,considering uncertainties including the uncertain tire corning stiffness,curvature disturbance,measurement noise,etc.,the longitudinal controller and lateral guarantee cost controller which is capable to decide the precedence among control objectives,are designed based on the framework of sliding variable mode and linear matrix inequality,respectively.Afterwards,an optimal driving forces allocation mechanism is developed which has ability to achieve appropriate allocation tire driving forces to meet upper layer control demands according to current vehicle responses.Finally,several comparative cases are carried out on Carsim-Simulink co-platform to validate the effectiveness of proposed approach.Results illustrate that the proposed approach has better transient performance and strong robustness to different driving environment which can also make both tracking errors and lateral dynamic responses converge quickly,compared with LQR and guarantee cost method that neglects the impact of external perturbance.更多还原