基于电动轮汽车四轮转向控制策略研究  

Research on four-wheel steering control strategies based on electric wheel vehicle

作　　者：魏晗 WEI Han(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏省镇江市212013

出　　处：《农业装备与车辆工程》2023年第7期120-124,共5页Agricultural Equipment & Vehicle Engineering

摘　　要：为提高四轮转向汽车的稳定性,提出了一种基于电动轮汽车的线性二次型调节器(Linear Quadratic Regulator,LQR)控制与直接横摆力矩(Direct Yaw-moment Control,DYC)协调控制策略。首先设计了以侧向车速、横摆角速度和侧向位移为控制目标的LQR控制器,然后设计了以横摆角速度为控制目标的DYC控制器,最后通过CarSim与MATLAB联合仿真验证表明:在良好工况下,LQR控制四轮转向车辆可实现质心侧偏角趋近于0和横摆角速度在理想范围内的折中最优化控制。在极限工况下,LQR四轮转向系统中附加横摆力矩协调控制可明显提高车辆的稳定性。In order to improve the stability of four-wheel steered vehicles,a linear quadratic regulator(LQR)control and direct yawmoment(DYC)coordinated control strategy based on electric-wheeled vehicles are proposed.Firstly,the LQR controller is designed with the lateral vehicle speed,yaw rate and lateral displacement as the control objectives,and then the DYC controller is designed with the yaw rate as the control objective.Under the working conditions,the LQR-controlled four-wheel steering vehicle can realize the compromise optimal control of the center of mass slip angle approaching zero value and the yaw angular velocity within the ideal range.The coordinated control of the sway moment can significantly improve the stability of the vehicle.

关 键 词：电动轮汽车 四轮转向 LQR控制 直接横摆力矩 CARSIM 

分 类 号：TM911.42[电气工程—电力电子与电力传动] U464.141[机械工程—车辆工程]