基于线控四轮转向系统的车辆横向控制策略  

Vehicle lateral control scheme based on the four-wheel steering-by-wire system

作　　者：马瑞兰 郭唯浩 姚俊明 郭世永 MA Ruilan;GUO Weihao;YAO Junming;GUO Shiyong(School of Mechanical and Automotive Engineering,Qingdao University of Technology,Qingdao 266525,China;Goertek Technology Limited Liability Company,Qingdao 266100,China)

机构地区：[1]青岛理工大学机械与汽车工程学院,青岛266525 [2]歌尔科技有限公司,青岛266100

出　　处：《青岛理工大学学报》2023年第6期155-162,共8页Journal of Qingdao University of Technology

基　　金：汽车仿真与控制国家重点实验室开放基金资助项目(20210232)。

摘　　要：线控四轮转向系统具备既可以提高车辆低速行驶的灵活性又可以保证高速行驶的稳定性的优点。针对车辆参数时变特性和环境的随机扰动降低了线控四轮转向系统性能的问题,提出一种自适应滑模控制策略来提高车辆的横向稳定性和轨迹跟踪能力。首先建立多自由度车辆横向动力学模型及理想的横向响应参考模型;然后考虑车辆模型的非线性,采用扩展卡尔曼滤波和改进积分法融合的方法观测车辆的质心侧偏角,以前后轴刚度作为自适应参数,采用自适应滑模控制策略降低参数时变和环境扰动的影响,达到提高参考模型跟踪性能的目的;最终以驾驶员模型进行Carsim/Simulink联合仿真。仿真结果表明所提出的线控四轮转向横向控制策略能够降低横向跟踪偏差及减小质心侧偏角的峰值。The four-wheel steering-by-wire system can not only improve the flexibility of lowspeed driving,but also ensure the stability of high-speed driving.In order to solve the problem that the time-varying characteristics of vehicle parameters and the random disturbances from the environment degrade the performance of the four-wheel steering-by-wire system,an adaptive sliding mode control strategy is proposed in this study to improve the lateral stability and trajectory tracking ability of the vehicle.Firstly,the lateral dynamics model of multi-degree-of-freedom vehicle and the ideal lateral response reference model are established.Then,considering the nonlinearity of the vehicle model,the sideslip angle of the vehicle is observed by using an Extended Kalman filter and an improved integration method.In order to improve the trajectory tracking performance of the reference model,the front and rear axle stiffness are taken as adaptive parameters and an adaptive sliding mode control strategy is adopted to reduce the influence of time-varying parameters and environmental disturbances.Finally,the Carsim/Simulink joint simulation is conducted by using one driver model.The simulation results show that the proposed four-wheel steering-by-wire lateral control strategy can reduce the lateral tracking error and the peak value of the sideslip angle.

关 键 词：线控四轮转向 自适应滑模控制 扩展卡尔曼滤波 质心侧偏角观测器 横向跟踪偏差 

分 类 号：U471.1[机械工程—车辆工程] U463.4[交通运输工程—载运工具运用工程]