机械弹性电动轮式车辆稳定性博弈协调控制  

Lateral stability coordinate control based on game theory of vehicle matching mechanical elastic electric wheel

作　　者：孙馨雨 赵又群[1] 邓汇凡 林涛 李宇昊 SUN Xinyu;ZHAO Youqun;DENG Huifan;LIN Tao;LI Yuhao(College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,Jiangsu 210016,China)

机构地区：[1]南京航空航天大学能源与动力学院,江苏南京210016

出　　处：《江苏大学学报（自然科学版）》2022年第6期628-635,共8页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(11672127);高机动防暴车辆技术国家工程实验室开放基金资助项目(1320210017);中国航天一院创新基金资助项目(HTF20200960);陆军研究技术项目(AQA19001);中央高校基本科研业务费专项资金资助项目(NP2020407)。

摘　　要：针对极限工况下匹配机械弹性电动轮(mechanical elastic electric wheel, MEEW)的汽车由于底盘强耦合特性而产生的子系统干涉问题进行研究.以主动前轮转向(active front-wheel steering, AFS)系统与直接横摆力矩控制(direct yaw moment control, DYC)系统为研究对象,利用非合作反馈Nash均衡博弈理论设计了子系统权重可变的博弈协调控制器,通过耦合黎卡提方程及其迭代变换求得在Nash均衡点处的理想输出结果.通过CarSim/Simulink联合仿真平台对控制机构进行车速为100 km·h^(-1)、路面附着系数为0.3的双移线工况仿真试验.结果表明:所设计的协调控制器能够实现AFS/DYC实时协调,在极限工况下,匹配MEEW的汽车在该控制器作用下的稳定性优于单一叠加最优控制器作用的稳定性,且汽车的质心侧偏角和横摆角速度的跟踪误差分别为0.48°~0.81°和0.035~0.425 (°)·s^(-1).The subsystem interference problem due to chassis strong coupling characteristics of vehicles matching mechanical elastic electric wheel(MEEW) under extreme conditions was investigated. Taking active front-wheel steering(AFS) system and direct yaw moment control(DYC) system as research objects, a game coordination controller with variable subsystem weights was designed by non-cooperative feedback Nash equilibrium game theory, and the ideal output at Nash equilibrium point was obtained by coupled Riccati equation and its iterative transformation. A joint simulation platform of CarSim/Simulink was built to carry out the simulation test with the vehicle speed of 100 km·h^(-1)and road adhesion coefficient of 0.3 under double shift condition. The results show that the designed coordination controller can realize the real-time coordination of AFS/DYC. The stability of the vehicle matching MEEW under the action of the designed controller is better than that of the single superimposed controller, and the tracking errors of the side slip angle and yaw rate of vehicle are within 0.48°-0.81° and 0.035-0.425(°)·s^(-1), respectively.

关 键 词：机械弹性电动轮 协调控制 NASH均衡 非合作博弈 求逆思想 

分 类 号：U461.6[机械工程—车辆工程]