引用本文:郭景华,罗禹贡,李克强.智能电动车辆横纵向协调与重构控制[J].控制理论与应用,2014,31(9):1238~1244.[点击复制]
GUO Jing-hua,LUO Yu-gong,LI Ke-qiang.Cooperative and reconfigurable lateral and longitudinal control of intelligent electric vehicles[J].Control Theory and Technology,2014,31(9):1238~1244.[点击复制]
智能电动车辆横纵向协调与重构控制
Cooperative and reconfigurable lateral and longitudinal control of intelligent electric vehicles
摘要点击 2997  全文点击 2277  投稿时间：2013-08-18  修订日期：2014-05-31
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DOI编号  10.7641/CTA.2014.30863
  2014,31(9):1238-1244
中文关键词  智能电动车辆  协调控制  控制分配  耦合  非奇异滑模
英文关键词  intelligent electric vehicles  coordinated control  control allocation  coupling  non-singular terminal sliding mode
基金项目  国家“863”国际科技合作项目(2010DFA72760); 国家自然科学基金资助项目(61304193); 中国博士后科学基金资助项目 (2013M530607).
作者单位E-mail
郭景华 清华大学 汽车安全与节能国家重点实验室 guojing_0701@live.cn 
罗禹贡 清华大学 汽车安全与节能国家重点实验室  
李克强* 清华大学 汽车安全与节能国家重点实验室 likq@tsinghua.edu.cn 
中文摘要
      针对具有高度非线性、强耦合和冗余特性的智能电动车辆运动控制问题, 提出了一种由协调控制律和控制 分配律组成的横纵向综合控制新方法. 首先, 建立准确表征智能电动车辆行为机理的动力学模型; 其次, 采用非奇 异滑模控制技术, 引入非线性滑动模态切换面, 设计有效克服非线性及不确定特性的协调控制律, 保证系统状态在 有限时间内收敛至平衡点; 在此基础上, 考虑到轮胎存在冗余和耦合特性, 提出基于内点法的控制分配算法来完成 期望广义力/力矩的优化分配, 实现轮胎横纵向力的协调与重构. 仿真结果表明了该方法的有效性.
英文摘要
      A novel integrated lateral and longitudinal control method consisting of an upper coordinated control law and a lower control allocation law, is developed for the intelligent electric vehicles with high nonlinearity, strong coupling and redundancy. Firstly, a dynamical model which can accurately reflect the behavior and mechanism of intelligent electric vehicles is built. Secondly, an upper coordinated control law which can effectively tackle with the nonlinear and uncertain characteristics is designed by non-singular terminal sliding mode technology, and the finite-time convergence of the system states is guaranteed. On this basis, considering the redundant and coupled properties of tires, a lower control allocation algorithm based on interior point method is proposed to optimally allocate the expected generalized forces/moment through coordinating and reconstructing the lateral and longitudinal tire forces. Simulation results are provided to demonstrate the effectiveness of the proposed strategy.