基于快速终端滑模状态观测器的车轮滑移率跟踪控制  

Wheel Slip Tracking Control of Vehicle Based on Fast Terminal Sliding Mode State Observer

作　　者：张家旭 施正堂 赵健[1] ZHANG Jiaxu;SHI Zhengtang;ZHAO Jian(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;Intelligent Network R&D Institute,China FAW Group Co,Ltd,Changchun 130011,China;Intelligent Vehicle Control System Research Institute,Zhejiang Asia-Pacific Mechanical and Electronic Co,Ltd,Hangzhou 311200,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,吉林长春130022 [2]中国第一汽车集团有限公司智能网联研发院,吉林长春130011 [3]浙江亚太机电股份有限公司智能汽车控制系统研究院,浙江杭州311200

出　　处：《湖南大学学报（自然科学版）》2020年第6期14-23,共10页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(51575225)。

摘　　要：针对自动驾驶电动汽车对车轮滑移率跟踪控制的需求,提出一种基于快速终端滑模状态观测器的全状态反馈车轮滑移率跟踪控制器.首先,以车轮制动力矩导数为控制输入,建立车轮滑移率跟踪控制模型,避免车轮滑移率跟踪控制器设计过程中引入不连续项对系统稳定性和控制性能的影响.随后,利用有限时间稳定和快速终端滑模控制理论设计具有有限时间收敛特性的快速终端滑模状态观测器,实时观测未知的系统状态信息.以此为基础,采用模块化思想独立设计快速终端滑模跟踪控制律,实现车轮滑移率的连续、快速的跟踪控制.最后,结合车辆动力学仿真软件建立模型在环测试系统,仿真验证本文提出的车轮滑移率跟踪控制器的可行性和有效性.Aiming at the requirement of wheel slip tracking control for automatic driving electric vehicle,this paper presents a full-state feedback wheel slip tracking controller based on fast terminal sliding mode state observer.Firstly,a wheel slip rate tracking control model taking the derivative of wheel braking moment as an input is established to avoid the effect of the discontinuity term in the input on the system stability and performance.Secondly,a fast terminal sliding mode state observer with the characteristic of finite time convergence is designed based on finite time stability and fast terminal sliding mode control theory in order to observe the unknown state information of the system in real time.Based on the estimation of the unknown state information of the system,a fast terminal sliding mode tracking control law is designed independently to realize the continuous and fast tracking control of wheel slip.Finally,a model-in-the-loop test system is built using vehicle dynamics simulation software to verify the feasibility and validity of the proposed wheel slip tracking controller.

关 键 词：控制工程 汽车工程 快速终端滑模状态观测器 车轮滑移率跟踪控制 快速终端滑模控制 有限时间稳定 

分 类 号：U461.1[机械工程—车辆工程]