分布式电驱动车辆极限越野环境下高速避障与稳定性控制  

High-speed Obstacle Avoidance and Stability Control of Distributed Electric Drive Vehicle under Extreme Off-road Conditions

作　　者：刘聪 刘辉[1,2] 韩立金 陈科[3] LIU Cong;LIU Hui;HAN Lijin;CHEN Ke(School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081,China;Institute of Frontier Technology, Beijing Institute of Technology, Jinan 250300, Shandong, China;Inner Mongolia First Machinery Group Co., Ltd., Baotou 014032, Inner Mongolia, China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学前沿技术研究院,山东济南250300 [3]内蒙古第一机械集团股份有限公司,内蒙古包头014032

出　　处：《兵工学报》2021年第10期2102-2113,共12页Acta Armamentarii

基　　金：国家自然科学基金项目(51775040)。

摘　　要：为提高分布式电驱动车辆在极限越野环境下的高速避障能力和操纵稳定性,提出一种充分考虑车辆过弯姿态反馈的分层协调横向稳定性控制方法。上层控制器将多模型在线建模算法与非线性模型预测控制理论相结合,构建一种基于数据驱动多模型预测控制的横摆、侧倾运动协调控制器。由于车辆不同的横向失稳状态下最优控制中心是时变的,细化并重构一种双层融合型横摆运动动力学模型。考虑到越野工况存在时变道路曲率和侧向坡度,建立零力矩点侧倾失稳判断模型,在横摆稳定性控制基础上引入侧倾稳定性控制约束。下层控制器结合各轮胎滑动率和垂直载荷转移量,采用二次规划求解算法将融合型期望横摆力矩转化为各轮最优驱动转矩。搭建MATLAB/Simulink软件和Carsim软件联合仿真平台,进行仿真实验验证。结果表明,该分层协调控制策略可充分发挥分布式电驱动车辆在极限越野工况下的高机动转向性能,具有较强的车身姿态修正能力,可以提高车辆的路径保持精度和过弯横向稳定性。A layered coordinated lateral stability control method is proposed to improve the high-speed obstacle avoidance ability and handling stability of distributed electric drive vehicles in extreme off-road environment,in which the attitude feedback of vehicle during cornering is fully considered.The upper controller combines the multi-model online modeling algorithm with the nonlinear model predictive control theory,and a coordinated control strategy for yaw and roll motion based on data-driven multi-model predictive control is proposed.Considering that the optimal control center is time-varying under different lateral instability states of vehicle,a two-level integrated yaw dynamic model is refined and reconstructed.Considering the time-varying road curvature and lateral slope angle under off-road conditions,a zero-moment point-based rollover instability judgment model is constructed,and the rollover stability control constraint is introduced on the basis of yaw stability control.The lower level controller converts the fused yaw moment into each wheel drive torque based on the quadratic programming algorithm.The joint simulation of MATLAB/Simulink and Carsim was built for test verification.The results show that the proposed layered coordinated control method can give full play to the high maneuverability of distributed electric drive vehicles under extreme off-road condition,which has a strong body attitude correction ability,and can improve the path tracking accuracy and the lateral stability of vehicle during cornering.

关 键 词：分布式电驱动车辆 极限越野环境 稳定性控制 高速避障 数据驱动多模型预测控制 

分 类 号：TJ810.2[兵器科学与技术—武器系统与运用工程]