四轮独立转向电动汽车转向控制方法及概要.pdfVIP

学兔兔 汽 车 工 程 2015年(第37卷)第9期 Automotive Engineering 2015(Vo1．37)No．9 2015177 四轮独立转向电动汽车转向控制方法术 马 雷 ，贡士娇 ，李 斌 ，汪 林 ，于 悦 (1．燕山大学车辆与能源学院，秦皇岛 066004；2．交通运输部公路科学研究院智能交通技术交通行业重点实验室，北京 100088) [摘要] 本文中对四轮独立转向电动汽车的转向控制方法进行研究。首先，基于前轮转向车辆的理想横摆角 速度模型，建立四轮独立转向2自由度动力学模型。接着，以四轮侧偏角之和绝对值最小化作为优化目标函数，以 质心侧偏角为零和理想横摆角速度作为约束条件，采用线型优化算法求解系统前馈控制器。再以轮胎侧偏角和横 摆转矩为输入建立线性控制模型，运用最优区域极点配置方法设计反馈控制器。最后，建立人一车一路闭环仿真系 统，分别进行双移线道路仿真实验和对开路面上的行驶仿真实验。结果表明，控制器能根据路面附着情况分配各轮 转角，保证车辆跟踪理想状态。实车双移线实验进一步验证了控制器对车辆理想状态良好的跟踪精度。 关键词：四轮独立转向；前馈控制；区域极点配置；操纵稳定性 Steering Control Scheme for Electric Vehicles with Four—wheel Independent Steering Ma Lei ，Gong Shijiao ，Li Bin ，Wang Lin Yu Yue 1．College ofVehicle and Energy，Yanshan l ，Qinhuangdao 066004； 2．Key Laboratory ofTechnology on Intelligent Transportation 5如￡em5，Research Institute ofHighway，MinistryofTransport，Beifing 100088 [Abstract] The steering control method for electric vehicle with four—wheel independent steering(4WIS)is studied in this paper．Firstly based on the ideal yaw rate model for vehicle with front wheel steering，a 2 DOF 4WIS dynamics model is established．Then with minimizing the absolute value of the sum of four tire side．slip angles as optimization objective function and the zero side-slip angle of mass center and ideal yaw rate as constraints，the line— ar optimization problem is solved with the feed-forward controller of system obtained．Next，the linear control model is set up with tire side-slip angles and yaw torque as inputs and the feedback controller is designed by using the method of optimum region pole assignment．Finally，a driver-vehicle-road closed loop simulation sy