考虑车辆系统动力学与轮胎滑移能耗的车辆编队纵向协调控制

doi:10.3901/JME.2025.08.250

摘要/Abstract

摘要： 为了协调轮毂电机驱动的车辆编队的跟车性能和节点车辆的动力学性能，提出一种考虑车辆系统动力学与轮胎滑移能耗的车辆编队纵向协调控制策略。首先，建立考虑轮胎滑移的车辆编队系统的数学模型。其次，引入最小化轮胎滑移能量耗散分配准则，分别基于无滑移控制、滑移率控制和滑移能量控制，设计三组目标优化方案。最后，基于非线性模型预测控制的集中式优化方法完成控制器设计。低附着路面工况下的仿真结果表明，所提优化方案都能实现跟车间距的稳定控制，但无滑移控制方案出现了明显的车轮打滑现象，无法实现节点车辆的稳定控制；滑移能量控制方案在减少轮胎磨损方面表现最佳，相比于无滑移控制方案，总轮胎滑移能量耗散降低了7.2%；在未超过最佳滑移率且目标减速度恒定的制动工况下，滑移能量控制方案相比滑移率控制方案，车辆前轮的最大滑移率平均值降低了10.4%，最大负荷率平均值降低了5.0%，所提供的纵向力平均值降低了2.8%。因此，滑移能量控制优化方案为前轮转向车辆提供了更大的侧向力裕度，有效地提高了车辆的操纵稳定性。

关键词: 车辆编队, 轮毂电机驱动, 纵向协调控制, 轮胎滑移能量耗散, 车辆系统动力学

Abstract: To coordinate the performance of vehicle platoons driven by in-wheel motors and the dynamic performance of the vehicles in the platoons, a longitudinal coordinated platoon control strategy considering vehicle system dynamics and tire slip energy dissipation is proposed. Firstly, considering tire slip, a mathematical model of the vehicle platoon is established. Next, the norm of minimizing tire slip energy dissipation distribution is introduced. Three objective optimization schemes are designed based on no-slip control, slip rate control, and slip energy control. Finally, the controller design is completed based on the centralized optimization method of nonlinear model predictive control. Simulation results under low adhesion road conditions show that the proposed optimization scheme can achieve stable control of platoon space. However, the no-slip control scheme caused apparent wheel slippage and could not achieve stable control of the node vehicle. The slip energy control scheme performs best in reducing tire wear. Compared to the no-slip control scheme, the total tire slip energy dissipation is reduced by 7.2%. Under braking conditions, within the limit of optimal slip rate and the target deceleration rate remains constant. Compared to the slip rate control scheme, the decrease in front wheels’ mean maximum slip rate, the mean maximum loading rate, and the mean longitudinal force are 10.4%, 5.0%, and 2.8%, respectively. Therefore, the slip energy control scheme provides a more significant lateral force margin for the front-wheel-steering vehicles and improves vehicle maneuverability effectively.

Key words: vehicle platoon, in-wheel motor drive, longitudinal coordinated control, tire slip energy dissipation, vehicle system dynamics

中图分类号:

U461

张宁, 吴志豪, 张浩彬, 李普, 徐利伟, 殷国栋. 考虑车辆系统动力学与轮胎滑移能耗的车辆编队纵向协调控制[J]. 机械工程学报, 2025, 61(8): 250-260.

ZHANG Ning, WU Zhihao, ZHANG Haobin, LI Pu, XU Liwei, YIN Guodong. Longitudinal Coordinated Control of Vehicle Platoon Considering Vehicle System Dynamics and Tire Slip Energy Dissipation[J]. Journal of Mechanical Engineering, 2025, 61(8): 250-260.

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