| 引用本文: | 于树友,李文博,刘艺,陈虹.四轮独立驱动电动汽车转向稳定控制[J].控制理论与应用,2021,38(6):719~730.[点击复制] |
| YU Shu-you,LI Wen-bo,LIU Yi,CHEN Hong.Steering stability control of four-wheel-drive electric vehicle[J].Control Theory and Technology,2021,38(6):719~730.[点击复制] |
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| 四轮独立驱动电动汽车转向稳定控制 |
| Steering stability control of four-wheel-drive electric vehicle |
| 摘要点击 2385 全文点击 924 投稿时间：2020-08-05 修订日期：2020-11-28 |
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| DOI编号 10.7641/CTA.2020.00506 |
| 2021,38(6):719-730 |
| 中文关键词 横摆稳定 分层控制 预测控制 滑模控制 图表 |
| 英文关键词 steering stability control hierarchical control model-predictive control sliding-mode control map |
| 基金项目 国家自然科学基金项目(U1964202, 61520106008), 吉林省教育厅项目(1526982655808), 工业物联网与网络化控制教育部重点实验室开放基金项 目(2019FF01)资助. |
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| 中文摘要 |
| 四轮驱动电动汽车在中高速转向行驶过程中, 轮胎的非线性特性会使得汽车出现大摆动、侧滑、过度或不
足转向等安全问题. 针对可能出现的问题, 提出了四轮驱动电动汽车转向稳定分层控制策略. 上层横摆稳定控制器
采用基于图表的滑模控制算法规划出使车辆转向稳定的附加横摆力矩. 下层转矩优化分配控制器采用模型预测控
制方法实现4个轮胎的转矩分配, 保证车辆转向行驶安全性. 仿真结果表明所设计的控制策略能够有效保证车辆的
稳定转向行驶. |
| 英文摘要 |
| When the four-wheel-drive electric vehicle steers at high speed, the nonlinear characteristics of tyre will make
the vehicle to appear some instable problems such as overswing, sideslip, oversteering and understeering．In order to tackle
these instable problems, a steering stable hierarchical control strategy for four-wheel-drive electric vehicles is proposed.
The outer-layer map-based sliding mode control scheme is to produce additional yaw moments to stabilize the vehicle; the
inner-layer torque model predictive control scheme is to implement the torque distribution of four tires. Simulation results
show that the proposed control strategy can effectively ensure the stable steering of the vehicle. |