基于Ackermann模型的全轮转向电动汽车的随动跟踪控制策略研究  

On the Tracking Control Strategy for the 4WIDIS EV Based on the Ackermann Model

作　　者：朱小春[1] 董铸荣[1] 贺萍[1] 

机构地区：[1]深圳职业技术学院,广东深圳518000

出　　处：《计算机测量与控制》2015年第2期417-419,425,共4页Computer Measurement &Control

基　　金：广东省自然科学基金项目(S2013010013931)

摘　　要：提出了一种新型的基于Ackermann模型的全轮转向电动汽车的随动跟踪控制系统,该随动跟踪控制的思想是:当四轮中出现有车轮运动受阻使得车轮转向和驱动的转速徒降,此时其它的车轮将不执行整车控制系统的运动指令,转而去跟随受阻车轮的运动状态,直到受阻车轮脱离困境后,4个车轮再各自执行整车控制系统的运动指令;该控制系统是由转向控制、驱动控制和CAN总线网络系统组成的复杂的电气系统;该控制系统的优势在于:不仅能实现四轮独立转向四轮独立驱动控制的功能,而且在不平路面上车轮失步情况下,各轮转向角能自动随动同步协调,有效地防止磨胎现象;实验结果表明,该动力随动控制系统控制实时同步性好,响应速度快,能使4个轮子在转向和差速过程中达到和机械连接一样的刚度要求。This paper presents a new tracking control system for the 4WIDIS EV based on the Ackermann model.The control theory is that：once there appeared a blocked wheel,the other wheels will not execute the command according to the main control system,but turn to follow the movement of the blocked wheel until it get out of the woods.Then each wheel will execute the command of the main control system.This control system is a complex electrical system consisting of the steering control,drive control and CAN-bus system.It can not only achieve the four-wheel independent steering and independent drive control functions,and can also make the steering angle of each wheel automatically synchronized with the movement under the wheels out of step on uneven pavement.And the tires can effectively be prevented from wearing.The experimental results show that the power servo control system can control the four wheels with the same rigidity as the mechanical connection,good real-time synchronization and fast response speed.

关 键 词：随动控制 四轮转向四轮驱动 Ackermann模型 

分 类 号：U469.72[机械工程—车辆工程]