基于后轮转角综合约束策略的4WIS车辆控制方法  

4WIS Vehicle Control Method Based on Rear Wheel Angle Comprehensive Constraint Strategy

作　　者：张军[1,2] 马博宣 张闲 张焜 ZHANG Jun;MA Boxuan;ZHANG Xian;ZHANG Kun(School of Machinery Engineering,Beijing Institute of Technology,Beijing 100081,China;National Engineering Research Center of Electric Vehicles,Beijing 100081,China;China Vehicle Research Institute,Beijing 100072,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]电动车辆国家工程研究中心,北京100081 [3]中国北方车辆研究所,北京100072

出　　处：《北京理工大学学报》2023年第9期926-932,共7页Transactions of Beijing Institute of Technology

摘　　要：为提高4WIS车辆轨迹跟踪精度与操作稳定性,提出了基于横摆角速度、质心侧偏角和侧滑分析的后轮转角综合约束策略.依照此策略,采用了纵向预瞄速度控制器和横向MPC控制器,嵌入纵向速度PID控制完成横纵向运动的解耦,并结合转矩分配控制器,形成了4WIS综合控制方法.使用Carsim和Matlab/Simulink建立了联合仿真模型,以前轮转向和4WIS一般控制方法作为对照,在U形弯道掉头工况与高速换道工况下进行仿真实验.仿真结果验证了后轮转角综合约束策略的有效性和可靠性,4WIS综合控制方法提高了车辆的灵活性和稳定性,并具有更高的轨迹跟踪精度.In order to improve the tracking accuracy and operational stability of four-wheel independent steering(4WIS)vehicle,a comprehensive restraint strategy for rear wheel angle was proposed based on yaw velocity,centroid side angle and sideslip analysis.According to this strategy,the longitudinal preview speed controller and the transverse MPC controller were adopted,and the longitudinal speed PID control was embedded to complete the decoupling of transverse and longitudinal motion.Combined with torque distribution controller,4WIS comprehensive control method was formed.Carsim and Matlab/Simulink were used to establish a co-simulation model.Taking the front wheel steering and 4WIS general control methods as the comparison control,some simulation experiments were carried out under U-bend turning condition and high-speed lane changing condition.The simulation results verify the effectiveness and reliability of the rear wheel Angle comprehensive restraint strategy.The 4WIS comprehensive control method can improve the flexibility and stability of the vehicle,and provide higher trajectory tracking accuracy.

关 键 词：四轮独立转向(4WIS) 后轮转角约束策略 轨迹跟踪 模型预测控制 

分 类 号：U461.6[机械工程—车辆工程]