【作者】 石漠然； 司宾强； 李宝晨； 朱斌； 周顺利；

【Author】 SHI Moran;SI Binqiang;LI Baochen;ZHU Bin;ZHOU Shunli;School of Instrument Science and Opto-Electronic Engineering, Beijing Information Science and Technology University;Department of Precision Instruments, Tsinghua University;State Key Laboratory of Precision Sensing Technology for Spatiotemporal Information, Tsinghua University;Luoyang iRobot Smart Control Technology Co., Ltd.;

【机构】 北京信息科技大学仪器科学与光电工程学院； 清华大学精密仪器系； 清华大学时空信息精密感知技术全国重点实验室； 洛阳艾罗德智控技术有限公司；

【摘要】 针对分布式驱动车辆在湿滑工况下的原地转向容错控制问题,提出一种上下层分层式滑转率控制策略,上层设计基于PID的速度跟踪器,用于生成各轮扭矩初始指令;下层则引入滑模滑转率补偿器,通过滑移率误差反馈与附着条件识别,实现对驱动轮打滑、空转等非理想状态的动态抑制。利用Trucksim与Simulink联合仿真平台,构建了典型湿滑原地转向工况用于性能评估。仿真结果验证了所提控制策略在低附着力场景下对驱动力分配的自适应性,展示出良好的容错性与滑转率跟踪效果。更多还原

【Abstract】 This paper addresses the issue of fault-tolerant in-place turning control for distributed drive vehicles under slippery road conditions. A hierarchical slip ratio control strategy is proposed, consisting of an upper-layer PID-based speed tracker that generates initial torque commands for each wheel, and a lower-layer sliding mode slip ratio compensator that suppresses undesirable phenomena such as wheel slip and idling through slip error feedback and road adhesion estimation. A typical slippery in-place turning scenario is constructed using the co-simulation platform of TruckSim and Simulink for performance evaluation. Simulation results demonstrate that the proposed control strategy achieves adaptive traction distribution and exhibits favorable fault-tolerant performance and slip ratio tracking capability under low-adhesion conditions.更多还原