轮式电动汽车转向和驱动系统的解耦控制外文文、.pdfVIP

Mechanical Systems and Signal Processing 101 (2018) 389–404 Contents lists available at ScienceDirect Mechanical Systems and Signal Processing journal homepage: www.else /locate/ymssp Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle Han Zhang, Wanzhong Zhao ⇑ College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, No. 29, Yudao Street, Nanjing 210016, China a r t i c l e i n f o a b s t r a c t Article history: To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a Received 29 April 2017 control strategy based on nonlinear decoupling control method is proposed in this paper, Received in revised form 21 August 2017 realizing the coordinated control of the steering and driving system. At first, the nonlinear Accepted 24 August 2017 models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated Keywords: control of each subsystem. Next, the l-Synthesis theory is applied to eliminate the influ- Electric vehicle ence of model uncertainty, improving the stability, robustness and tracking performance Decoupling control Nonlinear control of in-wheel-motor-drive electric