分布式驱动智能汽车对开坡道起步双重转向控制

doi:10.3901/JME.2019.20.205

摘要/Abstract

摘要： 匹配多套分布式驱动系统可以提升智能汽车的动力学控制能力，但该车在对开坡道起步时仍会存在动力性与方向稳定性难以兼顾问题。提出并验证一种结合主动转向与差动转向的分布式驱动智能汽车双重转向控制方法。根据各驱动轮独立可控的特点，分析对开坡道起步时施加双重转向控制的必要性；根据左右轮驱动力不等导致车辆产生差动转向而偏离直行路线的现象，基于模型预测控制设计出前轮主动转向控制器；结合设计的主动转向控制器与已有的分布式驱动汽车转矩自适应驱动防滑控制器，完成双重转向控制器设计；通过仿真分析和实车道路试验，验证了所设计控制器的控制效果。研究表明：施加双重转向控制，可以使分布式驱动智能汽车尽可能充分利用其自身驱动力和路面可提供的最大附着力；同时，能够根据实时的车身姿态参量和所在位置信息计算出相应的附加转向盘转角，通过主动转向使横向偏移量大幅降低。所提出的基于差动转向与主动转向相结合的双重转向控制，可以全面改善车辆的通过性和方向稳定性。

关键词: 智能电动汽车, 分布式驱动, 双重转向, 通过性, 方向稳定性

Abstract: The assembly of multiple sets of distributed drive systems can improve the dynamic control capability of intelligent vehicles. However, when the vehicle is starting on a split-slope road, there will still be problems in that the dynamic and directional stability are difficult to balance. Therefore, a dual steering control method combining active steering and differential steering for the distributed drive intelligent vehicles is proposed and verified. According to the independent and controllable characteristics of the drive wheels, the necessity of applying dual steering when the vehicle is starting on a split-slope road is analysed. According to the phenomenon that the left and right wheels unequal driving forces cause the vehicle to generate differential steering and deviate from the straight line, the front wheels active steering controller based on model predictive control is designed. The dual steering controller design is completed in combination with the designed active steering controller and the existing torque adaptive drive anti-skid controller for the distributed drive vehicles. Through the simulation analysis and the actual vehicle road test, the control effect of the designed controller is verified. The research shows that the application of dual steering control can make the distributed drive intelligent vehicle make full use of its own driving force and the maximum adhesion force that the road can provide to improve the trafficability; At the same time, the additional steering wheel angle can be calculated according to the real-time body attitude parameters and location information. The proposed dual steering control combined with differential steering and active steering can improve the vehicle trafficability and direction stability in an all-round way.

Key words: intelligent electric vehicles, distributed driver, dual steering, trafficability, directional stability

中图分类号:

U469

张利鹏, 王胜, 袁心茂. 分布式驱动智能汽车对开坡道起步双重转向控制[J]. 机械工程学报, 2019, 55(20): 205-213.

ZHANG Lipeng, WANG Sheng, YUAN Xinmao. Dual Steering Control of Distributed Drive Intelligent Vehicle Start on Split-slope Road[J]. Journal of Mechanical Engineering, 2019, 55(20): 205-213.

参考文献

[1] DU Jiuyu,OUYANG Minggao,CHEN Jingfu. Prospects for Chinese electric vehicle technologies in 2016-2020:Ambition and rationality[J]. Energy,2017,120:584-596.
[2] HU Jiasheng,YIN Dejun,HORI Y,et al. Electric vehicle traction control:A new MTTE methodology[J]. IEEE Industry Applications Magazine,2012,18(2):23-31.
[3] HU Chuan,WANG Rongrong,YAN Fengjun,et al. Differential steering based yaw stabilization using ISMC for independently actuated electric vehicles[J]. IEEE Transactions on Intelligent Transportation Systems,2018,19(2):627-638.
[4] 靳立强,王军年,宋传学,等. 电动轮驱动汽车驱动助力转向技术[J]. 机械工程学报,2010,46(14):101-108. JIN Liqiang,WANG Junnian,SONG Chuanxue,et al. Power steering by driving force for vehicle with motorized wheels[J]. Journal of Mechanical Engineering,2010,46(14):101-108.
[5] 余卓平,冷搏. 分布式驱动电动汽车的差动助力转向控制[J]. 汽车工程,2017,39(3):243-248,295. YU Zhuoping,LENG Bo. Differential assisted steering control for distributed drive electric vehicles[J]. Automotive Engineering,2017,39(3):243-248,295.
[6] 张利鹏,李亮,祁炳楠,等. 双电机分布式驱动汽车高速稳定性机电耦合控制[J]. 机械工程学报,2015,51(16):29-40. ZHANG Lipeng,LI Liang,QI Bingnan,et al. High speedstability electromechanical coupling control for dual-motor distributed drive electric vehicle[J]. Journal of Mechanical Engineering,2015,51(16):29-40.
[7] YU Zhuoping,LENG Bo,XIONG Lu,et al. Direct yaw moment control for distributed drive electric vehicle handling performance improvement[J]. Chinese Journal of Mechanical Engineering,2016,29(3):486-497.
[8] 徐兴,陈特,陈龙,等. 分布式驱动电动汽车转矩节能优化分配[J]. 中国公路学报,2018,31(5):183-190. XU Xing,CHEN Te,CHEN Long,et al. Optimized torque energy-saving allocation for distributed drive electric vehicle[J]. China Journal of Highway and Transport,2018,31(5):183-190.
[9] 张利鹏,李亮,祁炳楠,等. 分布式驱动电动汽车转矩自适应驱动防滑控制[J]. 机械工程学报,2013,49(14):106-113. ZHANG Lipeng,LI Liang,QI Bingnan,et al. Torque adaptive traction control for distributed drive electric vehicle[J]. Journal of Mechanical Engineering,2013,49(14):106-113.
[10] 余卓平,冯源,熊璐. 分布式驱动电动汽车动力学控制发展现状综述[J]. 机械工程学报,2013,49(8):105-114. YU Zhuoping,FENG Yuan,XIONG Lu. Review on vehicle dynamics control of distributed drive electric vehicle[J]. Journal of Mechanical Engineering,2013,49(8):105-114.
[11] SAKAI S I,HORI Y. Advantage of electric motor for anti skid control of electric vehicle[J]. EPE Journal,2001,11(4):26-32.
[12] KATAOKA H,SADO H,HORI Y,et al. Optimal slip ratio estimator for traction control system of electric vehicle based on fuzzy inference[J]. Electrical Engineering in Japan,2001,135(3):56-63.
[13] YIN D,HORI Y. Traction control for EV based on maximum transmissible torque estimation[J]. IEEE Transactions on Industrial Electronics,2010,56(6):2086-2094.
[14] 靳立强,田端洋,刘阅. 电动轮汽车驱动助力转向与稳定性协调控制[J]. 机械工程学报,2018,54(16):160-169. JIN Liqiang,TIAN Duanyang,LIU Yue. Coordinated control of DDAS and ESC systems for electric vehicle driven by in-wheel motors[J]. Journal of Mechanical Engineering,2018,54(16):160-169.
[15] ZHAO Wanzhong,ZHANG Han. Coupling control strategy of force and displacement for electric differential power steering system of electric vehicle with motorized wheels[J]. IEEE Transactions on Vehicular Technology,2018,67(9):8118-8128.
[16] KATSUYAMA E. Decoupled 3D moment control using in-wheel motors[J]. Vehicle System Dynamics,2013,51(1):18-31.
[17] ZHANG Hui,WANG Junmin. Vehicle lateral dynamics control through afs/dyc and robust gain-scheduling approach[J]. IEEE Transactions on Vehicular Technology,2016,65(1):489-494.
[18] ZHENG Bing,ANWAR S. Yaw stability control of a steer-by-wire equipped vehicle via active front wheel steering[J]. Mechatronics,2009,19(6):799-804.
[19] ZHAO Wanzhong,ZHANG Han,LI Yijun. Displacement and force coupling control design for automotive active front steering system[J]. Mechanical Systems and Signal Processing,2018,106:76-93.
[20] NAM K,OH S,HORI Y. Robust yaw stability control for electric vehicles based on active steering control[C]//2010 Vehicle Power and Propulsion Conference,Lille,France,1-3 Sept,2010:1-5.
[21] MINAKI R,HOSHINO H,HORI Y. Experimental verification of active front steering based on driver-friendly reaction torque control[J]. Electronics & Communications in Japan,2014,97(8):1-13.
[22] NAM K,FUJIMOTO H,HORI Y. Advanced motion control of electric vehicles based on robust lateral tire force control via active front steering[J]. IEEE/ASME Transactions on Mechatronics,2014,19(1):289-299.
[23] 章仁燮,熊璐,余卓平. 智能汽车转向轮转角主动控制[J]. 机械工程学报,2017,53(14):120-127. ZHANG Renxie,XIONG Lu,YU Zhuoping. Active steering angle control for intelligent vehicle[J]. Journal of Mechanical Engineering,2017,53(14):120-127.
[24] 陈虹. 模型预测控制[M]. 北京:科学出版社,2013. CHEN Hong. Model predictive control[M]. Beijing:Science Press,2013.
[25] PACEJKA H B. Tyre and vehicle dynamics[M]. 2nd ed. Oxford:Butterworth -Heinemann,2006.
[26] ZHANG Lipeng,LI Liang,LIN Cheng,et al. Coaxial-coupling traction control for a four-wheel-independent-drive electric vehicle on a complex road[J]. Journal of Automobile Engineering,2014,228(12):1398-1414.
[27] 张利鹏,李亮,祁炳楠. 轮毂电机驱动电动汽车侧倾稳定性解耦控制[J]. 机械工程学报,2017,53(16):108-118. ZHANG Lipeng,LI Liang,QI Bingnan. Decoupled roll stability control of in-wheel motor drive electric vehicle[J]. Journal of Mechanical Engineering,2017,53(16):108-118.
[28] 高振海. 汽车方向预瞄式自适应PD控制算法[J]. 机械工程学报,2004,40(5):101-105. GAO Zhenhai. Vehicle direction preview adaptive PD control algorithm[J]. Journal of Mechanical Engineering,2004,40(5):101-105.
[29] ZHANG Hui,WANG Junmin. Active steering actuator fault detection for an automatically-steered electric ground vehicle[J]. IEEE Transactions on Vehicular Technology,2016,66(5):3685-3702.
[30] ZHANG Lipeng,LI Liang,QI Bingnan,et al. Parameters optimum matching of pure electric vehicle dual-mode coupling drive system[J]. Science China,Technological Sciences,2014,57(11):2265-2277.
[31] 张利鹏,董闯闯,张伟,等. 电动汽车对开坡道双模耦合驱动控制[J]. 中国机械工程,2018,29(15):1788-1795. ZHANG Lipeng,DONG Chuangchuang,ZHANG Wei,et al. Dual-mode coupling drive control for electric vehicles on a bisectional ramp[J]. China Mechical Engineering,2018,29(15):1788-1795.