四轮独立转向分布式驱动电动汽车单轮转向失效行驶稳定性控制  

Driving Stability Control of Four-wheel Independent Steering Distributed Drive Electric Vehicle with Single Wheel Steering Failure

作　　者：赵明慧 郭浩然[1,2] 张利鹏 刘欣 ZHAO Minghui;GUO Haoran;ZHANG Lipeng;LIU Xin(Hebei Key Laboratory of Special Carrier Equipment,Qinhuangdao 066004;School of Vehicle and Energy,Yanshan University,Qinhuangdao 066004)

机构地区：[1]河北省特种运载装备重点实验室,秦皇岛066004 [2]燕山大学车辆与能源学院,秦皇岛066004

出　　处：《机械工程学报》2024年第10期507-522,共16页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52272407);中央引导地方科技发展资金(226Z2202G);河北省自然科学基金(E2020203174);河北省高等学校科学研究重点(ZD2022029)资助项目。

摘　　要：四轮独立转向分布式驱动电动汽车具备常规车辆无法比拟的机动性、通过性和操纵稳定性,但其复杂的结构特点以及执行器的高度冗余加大了转向系统驱动电机失效的风险。针对单轮转向失效行驶稳定性问题,通过分析后轮主动转向对于车身稳定性的影响,采用附加后轮转向的单轨模型作为稳态参考模型,提出一种轮胎力可分配重构的分层控制方法。首先,根据轮胎侧偏状态确定各轮转向控制方式,考虑转向失效冲击和横摆角误差累积,设计基于参数自适应的递归非奇异终端滑模控制器即上层控制器;然后,以最小化轮胎负荷率作为优化目标,根据车辆状态动态调整执行机构的介入和退出,重新分配车轮转角和驱动/制动力矩来设计下层控制器;最后,通过离线仿真和控制器在环仿真对所提控制方法进行验证。结果表明,在单轮转向失效的工况下,所设计的控制器相比于普通滑模控制器使最大横向位置误差分别降低了85.2%和88.1%,使最大横摆角误差分别降低了81.8%和81.5%,可以使四轮独立转向分布式驱动电动汽车保持良好的行驶稳定性。Four-wheel independent steering distributed drive electric vehicle has unmatched mobility,traffic ability and handling stability of conventional vehicles,but its complex structural characteristics and high redundancy of actuators increase the risk of steering motors failure.Aiming at the driving stability problem under the failure of single wheel steering,by analyzing the influence of active steering of rear wheels on body stability and using the monorail model with additional rear wheel steering as the steady-state reference model,a hierarchical control method based on tire force distributable reconstruction is proposed.At first,the steering control method of each wheel is determined according to the side deviation state of the tires,considering the steering failure shock and the accumulation of yaw angle error,a recursive non-singular terminal sliding mode controller as the upper level controller is designed based on parameter adaptation.Then,using he minimum tire load rate as the optimization goal,the intervention and withdrawal of the actuator are dynamically adjusted according to the vehicle state,and the wheel steering angles and driving or braking torques are redistributed to design the lower-level controller.Finally,the proposed control method is verified by off-line simulation and controller-in-the-loop simulation.The results show that the designed controller can reduce the maximum lateral position error by 85.2%and 88.1%respectively compared with the common sliding mode controller under the condition of single wheel steering failure,the maximum yaw angle error is reduced by 81.8%and 81.5%respectively,which can keep good driving stability of four-wheel independent steering distributed drive electric vehicle.

关 键 词：电动汽车 四轮独立转向 四轮独立驱动 转向失效 分配重构 行驶稳定性 

分 类 号：U467[机械工程—车辆工程]