| 引用本文: | 柳江,王政皓,张业,陈朋.车辆主动转向和独立驱动集成控制[J].控制理论与应用,2019,36(8):1351~1359.[点击复制] |
| LIU Jiang,WANG Zheng-hao,ZHANG Ye,CHEN Peng.Active steering and independent drive integrated control[J].Control Theory and Technology,2019,36(8):1351~1359.[点击复制] |
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| 车辆主动转向和独立驱动集成控制 |
| Active steering and independent drive integrated control |
| 摘要点击 2417 全文点击 1188 投稿时间：2018-01-08 修订日期：2018-10-08 |
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| DOI编号 10.7641/CTA.2018.80016 |
| 2019,36(8):1351-1359 |
| 中文关键词 主动安全系统 集成控制 主动转向 独立驱动 |
| 英文关键词 active safty system integrated control active steering independent drive |
| 基金项目 国家自然科学基金资助项目(51575288). |
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| 中文摘要 |
| 针对车辆行驶安全的主动控制问题，本文提出一种主动转向和4轮独立驱动的双层集成控制系统。针对所建立的8自由度汽车模型，利用上层控制结构的质心侧偏角-质心侧偏角速度 相平面算法，实现对车辆运动状态的确定；利用下层控制结构的滑模变结构和二次规划算法，实现主动转向和驱动力的协调，控制车辆的运行状态。在Matlab/Simulink下，对集成控制器进行增幅正弦极限工况的仿真，结果显示该集成控制器可将车辆的横摆和侧滑控制在安全的区域内，明显提高极限工况下的车辆稳定性。 |
| 英文摘要 |
| Focus on the vehicle’s active safty system, we proposed a novel double-layer integrated control system, which consist of an active steering and a four-wheel independent drive substems. An eight-freedom vehicle model for this new intergrated system was established at first. In order to determine the vehicle motion, we built a two-layer control structure. the upper layer control took the centroid side-slip angle and its derivative as the control targets for the phase plane algorithm. The lower control layer used the sliding mode variable structure control for the active steer, and and the quadratic programming algorithm for the wheel drive forces control. By the coordination control, the lower layer controller can ensure the vehicle with a stable running state. Simulations with increase sine critical conditions were performed using Matlab/Simulink. The results showed that the integrated controller can reduce the car’s yaw and sideslip motions within a secure band, improving the vehicle stability under the critical condition. |