四轮轮毂电动汽车航向跟踪自抗扰控制  

Heading following control for four-wheel independent drive electric vehicle based on active disturbance rejection control

作　　者：陈锐[1] 宋新飞[1] 孙鹤[1] 张强[1] 

机构地区：[1]中国人民解放军空军第一航空学院,河南信阳464000

出　　处：《传感器与微系统》2017年第5期137-140,156,共5页Transducer and Microsystem Technologies

摘　　要：设计了一种用于四轮轮毂电动汽车航向跟踪的高性能控制策略,采用双层控制结构,包括直接横摆力矩制定层和转矩分配层。在直接横摆力矩制定层,分析了汽车航向的动态模型,并通过数学变换,创新性地设计了两个串联起来的自抗扰控制器,计算出了跟踪设定航向角所需的附加横摆力矩;在转矩分配层,设计了转矩分配算法。通过Matlab/Simulink仿真验证了所设计控制策略的有效性。Focuses on the heading following control for four-wheel independent drive （4WID） electric vehicles.A two-layer-control-model（direct yaw-moment control layer and torque distribution layer）is presented to achieve the high performance control.In the upper layer,A direct yaw-moment controller based on active disturbance rejection control（ADRC）is built through carefully analyzing the heading system.Then the deviation torque is calculated for the purpose of following.In the lower layer,an algorithm is designed to distribute torque to the motor drive systems.The effectiveness of the controller is examined using a driving simulator system.

关 键 词：四轮轮毂 航向跟踪 自抗扰控制 直接横摆力矩控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]