无人车全轮蟹行转向稳定性鲁棒控制与试验验证  

Robust Stability Control and Its Verification Test for All-Wheel Diagonal Steering of Unmanned Ground Vehicles

作　　者：赵越 胡纪滨[1,2] 吴维 魏超[1] Zhao Yue;Hu Jibin;Wu Wei;Wei Chao(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;Advanced Technology Research Institute,Beijing Institute of Technology,Jinan 250307)

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,济南250307

出　　处：《汽车工程》2022年第8期1126-1135,1279,共11页Automotive Engineering

基　　金：国家自然科学基金(U1764257)资助。

摘　　要：无人车在民用和军用领域得到了愈发广泛的研究和应用,它完全取消人类驾驶操纵机构,采用全线控控制架构和全轮分布式独立驱动/制动/转向技术,使各个车轮独立控制,进而可实现多种转向模式,获得传统车辆无法实现的高机动性轨迹跟踪能力。本文对全线控无人车全轮蟹行转向控制展开研究,提出了一种模型可重构的稳定性鲁棒控制算法,建立了蟹行机动的鲁棒控制目标和参数摄动动力学模型,构建了鲁棒H/H稳定性控制器,实现了无人车无横摆的点对点直接运动,并通过综合协同动力学控制实现车身运动姿态与运动轨迹的解耦控制,从而显著提升无人车在复杂空间的轨迹跟踪能力。最后,通过一辆六轮无人车样机的实车测试验证了所设计的鲁棒控制器的控制效果。The research and application of unmanned ground vehicles(UGVs)become more popular in both civilian and military fields. UGVs completely eliminate the human driving operating mechanisms,and adopt full X-by-wire control framework and distributed all-wheel independent drive/braking/steering techniques instead,with each wheel independently controlled to realize multi-steering modes and obtain high maneuver trajectory tracking ability which traditional vehicle cannot achieved. This paper aims to conduct a research on the all-wheel diagonal steering(vividly called crab walk steering)control of full X-by-wire controlled UGVs. Firstly,a stability robust control algorithm with a reconfigurable model is proposed,the robust control target and parameter perturbation dynamics model for diagonal maneuver are established,and a robust H/Hstability controller is constructed to achieve a point-to-point yaw-less direct movement of UGVs. Then a decoupled control between body motion posture and movement trajectory is realized through comprehensive cooperated dynamics control,so significantly enhancing the trajectory tracking capability of UGVs in complex space. Finally,a test on a six-wheel UGV prototype is carried out to verify the control effects of the robust controller designed.

关 键 词：无人车 全轮转向 蟹行机动 鲁棒控制 

分 类 号：U463.6[机械工程—车辆工程]