分布式驱动电动汽车轨迹跟踪与横向稳定性协同控制  

Cooperative control of trajectory tracking and lateral stability of distributed driven electric vehicle

作　　者：张志勇[1] 金博文 ZHANG Zhiyong;JIN Bowen(School of Automotive and Mechanical Engineering,Changsha University of Science&Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学汽车与机械工程学院,湖南长沙410114

出　　处：《长沙理工大学学报（自然科学版）》2023年第6期159-169,共11页Journal of Changsha University of Science and Technology:Natural Science

基　　金：国家自然科学基金资助项目(51675057);湖南省教育厅科学研究项目(18K049,20A018)。

摘　　要：【目的】针对车辆轨迹跟踪过程中车辆横向稳定性和跟踪精度的多目标控制问题,提出一种基于可拓集合的车辆轨迹跟踪与横向稳定性协同控制策略。【方法】建立了包含车辆轨迹跟踪精度和横向稳定性的统一车辆模型,基于滑模控制策略建立上层控制器,实时计算能够实现车辆轨迹跟踪的前轮转角和改善横向稳定性的直接横摆力矩。结合可拓集合理论,提出了轨迹跟踪精度和横向稳定性两个控制权重的自适应调整方法,以实现两个控制目标的协同控制。利用分布式驱动电动汽车四个车轮转矩可独立控制的优势,提出了最大化路面附着极限利用率的车轮转矩分配控制策略,以达到可靠实现直接横摆力矩的目的。【结果】基于MATLAB/Simulink和CarSim的联合仿真,验证了所提出的协同控制策略在确保车辆精确跟踪轨迹的同时,改善了车辆的横向稳定性。【结论】仿真结果证明,基于车辆横向稳定性指标的可拓距能准确地评价车辆的横向稳定性,提出的轨迹跟踪精度与横向稳定性控制权重自适应调整方法能协同控制两个目标,转矩分配控制策略能可靠实现直接横摆力矩。[Purposes]Aiming at the multi-objective control of vehicle lateral stability and tracking accuracy in the process of vehicle trajectory tracking,a cooperative control strategy of vehicle trajectory tracking and lateral stability based on extension set is proposed taking.[Methods]A unified vehicle model including vehicle trajectory tracking accuracy and lateral stability was established,the upper controller was realized based on sliding mode control strategy,and the steering angle for vehicle trajectory tracking and the direct yaw moment to improve lateral stability were planned.Combined with the extension set theory,an adaptive adjustment method of two control weights of trajectory tracking accuracy and lateral stability was proposed to realize the collaborative control of two control objectives.Taking advantage of the independent control of four wheel torques for distributed drive electric vehicle,a wheel torque distribution control strategy to maximize the utilization of road adhesion limit was proposed to achieve the purpose of reliable realization of direct yaw moment.[Findings]Applying the co-simulation of MATLAB/Simulink and CarSim,the proposed cooperative control strategy improves the vehicle lateral stability while ensuring the trajectory tracking accurate.[Conclusions]The simulation results show that the extension distance based on the vehicle lateral stability index can accurately evaluate the vehicle lateral stability,the proposed adaptive adjustment method of control weights can coordinate the trajectory tracking accuracy and lateral stability,and the torque distribution control strategy can reliably realize the direct yaw moment.

关 键 词：横向稳定性 轨迹跟踪 分布式驱动电动汽车 转矩分配控制 可拓集合 

分 类 号：U461.6[机械工程—车辆工程]