模糊逻辑控制在模块化车辆轨迹的应用研究  

Research on the Application of Fuzzy Logic Control in Modular Vehicle Trajectory

作　　者：江军[1] 田哲文[2] JIANG Jun;TIAN Zhewen(School of Automotive Engineering,Hubei Institute of Industry and Technology,Hubei Shiyan 442000,China;School of Automotive Engineering,Wuhan University of Technology,Hubei Wuhan 430070,China)

机构地区：[1]湖北工业职业技术学院汽车工程学院,湖北十堰442000 [2]武汉理工大学汽车工程学院,湖北武汉430070

出　　处：《机械设计与制造》2024年第12期161-168,共8页Machinery Design & Manufacture

基　　金：2020年湖北工业职业技术学院科研项目(2020YY09)—电动智能网联赛车及实训平台的设计。

摘　　要：针对电动汽车和混合动力电动汽车的动力配置,提出了一种应用于模块化全轮驱动汽车的优化模糊逻辑控制(FLC)策略。在车辆的动力学模型中,应用魔术公式来定义与弯道或行驶/中断情况下的载荷传递的轮胎打滑。通过控制器来调整轮内电机扭矩,以实现车辆的轨迹纠偏。提出了遗传算法的多目标优化方法,研究了车辆的质量、重心位置、轮距和轴距等因素对车辆鲁棒性的控制影响,并与传统的PID控制方法进行了对比,表明所提的FLC能够有效控制车辆的轨迹。最后通过半实物实验,验证了所提FLC控制策略的有效性。An optimized fuzzy logic control(FLC)strategy for modular all-wheel drive vehicles is proposed for the power configuration of electric vehicles and hybrid electric vehicles.In the dynamic model of a vehicle,magic formulas are used to define tire slip associated with load transfer in curves or driving/interruptions.The torque of the motor in the wheel is adjusted through a controller to achieve trajectory correction of the vehicle.A multi-objective optimization method based on genetic algorithm is proposed to study the control effects of vehicle mass,center of gravity position,wheelbase,and wheelbase on vehicle robustness.A comparison with traditional PID control methods shows that the proposed FLC can effectively control vehicle trajectory.Finally,the effectiveness of the proposed FLC control strategy is verified through a semi physical experiment.

关 键 词：模糊逻辑控制 模块化车辆 遗传算法 车辆轨迹 

分 类 号：TH16[机械工程—机械制造及自动化] U46[机械工程—车辆工程]