基于数据融合的四轮独立转向车辆研究  

Research on four-wheel independent steering vehicle based on data fusion

作　　者：刘瑞峰 陈勇[1,2,3] LIU Ruifeng;CHEN Yong(School of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China;Beijing Laboratory for New Energy Vehicles,Beijing 100192,China;Collaborative Innovation Center of Electric Vehicles in Beijing,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]新能源汽车北京实验室,北京100192 [3]北京电动车辆协同创新中心,北京100192

出　　处：《合肥工业大学学报（自然科学版）》2022年第10期1322-1326,1359,共6页Journal of Hefei University of Technology：Natural Science

基　　金：科技创新服务能力建设-北京实验室建设资助项目(PXM2020-014224-000065;PXM2019-014224-000005)。

摘　　要：为了提高四轮独立转向车辆的操纵稳定性,文章提出一种基于数据融合算法的车辆转角控制分配策略。策略分上下2层:上层为后轮转角控制,为使车辆跟随理想横摆角速度和质心侧偏角,通过滑模控制理论控制后轮转角,并与前轮比例前馈控制的后轮转角进行数据融合;下层为转角分配,基于阿克曼转向关系并考虑轮胎侧偏的影响,进行四轮转角的分配。通过MATLAB/Simulink在不同工况下进行仿真分析,对比线性二次调节器(linear quadratic regulator, LQR)控制四轮转向和融合控制四轮独立转向的横摆角速度和质心侧偏角。仿真结果表明,所提出的融合控制策略在不同工况下改善了车辆操纵稳定性。In order to improve the handling stability of four-wheel independent steering vehicle, a vehicle steering angle control allocation strategy based on data fusion algorithm is proposed. The strategy is divided into two layers. The upper layer is the rear wheel angle control. In order to make the vehicle follow the ideal yaw velocity and sideslip angle of the center of mass, the rear wheel angle is controlled by sliding mode control theory, and the data fusion is carried out with the rear wheel angle controlled by the front wheel proportional feedforward. The lower layer is the steering angle allocation. Based on the Ackermann steering relation, the four-wheel steering angle is allocated considering the influence of tire deflection. Through MATLAB/Simulink simulation analysis under different operating conditions, the yaw velocity and sideslip angle of the center of mass of four-wheel steering with linear quadratic regulator(LQR) control and four-wheel independent steering with fusion control are compared. Simulation results show that the proposed fusion control strategy improves the vehicle handling stability under different operating conditions.

关 键 词：四轮独立转向 数据融合 滑模控制 阿克曼转向原理 转角分配 

分 类 号：U461.6[机械工程—车辆工程]