新能源汽车横摆角速度无静差跟踪鲁棒控制  

Robust Control of Yaw Rate Tracking Without Static Error for New Energy Vehicles

作　　者：宋小艳[1] 刘菲菲[1] 李彦超 刘伟东[2] SONG Xiaoyan;LIU Feifei;LI Yanchao;LIU Weidong(School of Mechanical Engineering and Shenyang Urban Construction University,Liaoning Shenyang 110167,China;School of Transportation and Geomatics Engineering,Shenyang Jianzhu University,Liaoning Shenyang 110168,China)

机构地区：[1]沈阳城市建设学院机械工程学院,辽宁沈阳110167 [2]沈阳建筑大学交通与测绘工程学院,辽宁沈阳110168

出　　处：《机械设计与制造》2025年第4期163-168,共6页Machinery Design & Manufacture

基　　金：2023年度辽宁省教育厅基本科研项目—新能源汽车操纵稳定性分析与控制研究(JYTMS20231542)。

摘　　要：由于新能源汽车行驶过程易受到车辆行驶状态的影响,当状态发生较大变化时,如果未能及时适应,就可能导致横摆角速度跟踪不准确,影响车辆行驶稳定性、增加交通事故风险的问题。因此,提出新能源汽车横摆角速度无静差跟踪鲁棒控制,首先通过单预瞄点规划汽车的虚拟轨迹,然后计算汽车质心以无偏差方式沿规划轨迹稳定行驶时的理想横摆角速度并加以优化,最后引入内膜原理构建内环为镇定补偿器、外环为内模伺服补偿器进行新能源汽车横摆角速度无静差跟踪鲁棒控制,以更好地适应车辆行驶状态的变化,并基于控制条件,采用极点配置和待定系数法求解系统控制量,实现横摆角速度无静差跟踪鲁棒控制。实验结果表明,所提方法能够有效跟踪理想轨迹和理想横摆角速度、降低侧向位移和航向角误差,且在行驶状态发生连续变化下,横摆角速度结果与理想结果接近,具有较好的鲁棒性,能及时适应行驶状态的变化。Due to the fact that the driving process of new energy vehicles is easily affected by the vehicle’s driving state,if the state undergoes significant changes and is not adapted in a timely manner,it may lead to inaccurate tracking of the yaw rate,af⁃fecting the stability of vehicle driving and increasing the risk of traffic accidents.Therefore,a robust control method for tracking the yaw rate of new energy vehicles without static errors is proposed.Firstly,a single preview point is used to plan the virtual tra⁃jectory of the vehicle,and then the ideal yaw rate is calculated and optimized when the vehicle's center of mass stabilizes along the planned trajectory in an unbiased manner.Finally,the inner membrane principle is introduced to construct a stable compen⁃sator in the inner loop and an inner model servo compensator in the outer loop for robust control of tracking the yaw rate of new en⁃ergy vehicles without static errors,in order to better adapt to the vehicle's driving state.Change and based on control conditions,Using pole configuration and undetermined coefficient method to solve the system control variables,achieving robust tracking control of yaw rate without static error.The experimental results show that the proposed method can effectively track the ideal tra⁃jectory and ideal yaw rate,reduce lateral displacement and heading angle errors,and under continuous changes in driving con⁃ditions,the yaw rate results are close to the ideal results,with good robustness and the ability to adapt to changes in driving con⁃ditions in a timely manner.

关 键 词：新能源汽车 横摆角速度 无静差跟踪 鲁棒控制 内模原理 

分 类 号：TH16[机械工程—机械制造及自动化] U461.1[机械工程—车辆工程]