多轴重载分布式电驱动车辆全轮转向控制研究

doi:10.3901/JME.260289

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 317-331.doi: 10.3901/JME.260289

• 特邀专辑：汽车线控底盘 • 上一篇下一篇

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多轴重载分布式电驱动车辆全轮转向控制研究

吴建洋¹, 王俊业², 杨波¹, 丁晓林², 刘欣², 张雷²

1. 北京航天发射技术研究所北京 100076;
2. 北京理工大学电动车辆国家工程研究中心北京 100081

收稿日期:2025-07-07 修回日期:2025-12-20 出版日期:2026-04-20 发布日期:2026-06-12
作者简介:吴建洋,女,1991年出生,博士,工程师。研究方向为车辆动力学与控制。E-mail:wujianyang2013@163.com;王俊业,男,2001年出生,硕士研究生。研究方向为多轴重载车辆转向控制。E-mail:junyewang@bit.edu.cn;杨波,男,1982年出生,博士,研究员。研究方向为车辆动力学与控制。E-mail:yangbo019@126.com;丁晓林(通信作者),男,1993年出生,博士,副研究员。研究方向为车辆动力学与控制。E-mail:xiaolinding@bit.edu.cn;刘欣,女,1999年出生,博士研究生。研究方向为角模块底盘运动控制。E-mail:3220245099@bit.edu.cn;张雷,男,1987年出生,博士,教授。研究方向为车辆动力学与控制、智能车辆运动控制等。E-mail:lei_zhang@bit.edu.cn
基金资助:
国家自然科学基金资助项目(52302463、52202457、52394265、52394262)。

Research on All-wheel Steering Control Strategy for Multi-axle Heavy-duty Distributed Drive Electric Vehicles

WU Jianyang¹, WANG Junye², YANG Bo¹, DING Xiaolin², LIU Xin², ZHANG Lei²

1. China Academy of Launch Technology, Beijing 100076;
2. National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing 100081

Received:2025-07-07 Revised:2025-12-20 Online:2026-04-20 Published:2026-06-12

摘要/Abstract

摘要： 多轮转向控制是提升多轴重载车辆机动性、减少轮胎磨损的关键。针对多轴重载分布式电驱动重载车辆，提出一种多目标分层全轮转向控制策略。首先，在上层控制器中建立考虑侧倾特性的线性二自由度多轴车辆转向模型，以实现阿克曼转向为目标，初步计算出各轮转角；下层控制器以最小化、均匀化轮胎磨损为目标，修正上层初分配的各轮转角；协调控制层构建了基于线性二次最优的理想横摆角速度和质心侧偏角协调跟踪控制器：当横摆角速度偏差小于预设阈值时，以轮胎磨损最小为目标实现转角控制；当横摆角速度偏差大于等于预设阈值时，以车辆操稳性为目标进行转角控制。硬件在环测试结果表明，所提出的全轮转向控制策略能有效跟踪理想横摆角速度和质心侧偏角。在低速工况下，可提高车辆转向灵活性，降低轮胎磨损；在高速工况下，车辆质心侧偏角保持在0.5°±0.3°范围内，有效改善车辆操纵稳定性。

关键词: 多轴重载车辆, 全轮转向, 线控转向, 阿克曼转向, 轮胎磨损, 最优控制

Abstract: A multi-objective hierarchical all-wheel steering control strategy is proposed to enhance maneuverability while reducing tire wear for multi-axle heavy-duty distributed-drive electric vehicles. This strategy comprises three layers: an upper layer, a lower layer, and a coordination layer controller. The upper layer controller preliminarily generates the steering angle for each wheel based on a linear two-degree-of-freedom multi-axle vehicle model that accounts for roll characteristics. The lower layer controller aims to minimize and equalize tire wear by compensating for the steering angles initially calculated by the upper layer. The coordination layer controller employs a Linear Quadratic Optimal controller to cooperatively track the desired vehicle yaw rate and sideslip angle. When the vehicle yaw rate error falls below a preset threshold, tire wear minimization is prioritized; when it exceeds the threshold, vehicle handling stability and safety take precedence. Hardware-in-the-loop tests demonstrate that the proposed control strategy effectively tracks the desired yaw rate and sideslip angle. The vehicle exhibits excellent maneuverability with reduced tire wear under low-speed driving conditions and strong handling stability at high speeds, effectively regulating the sideslip angle within 0.5°±0.3°.

Key words: multi-axle vehicles, all-wheel steering, steering-by-wire, ackermann steering, tire wear, optimal control

中图分类号:

TG156

吴建洋, 王俊业, 杨波, 丁晓林, 刘欣, 张雷. 多轴重载分布式电驱动车辆全轮转向控制研究[J]. 机械工程学报, 2026, 62(8): 317-331.

WU Jianyang, WANG Junye, YANG Bo, DING Xiaolin, LIU Xin, ZHANG Lei. Research on All-wheel Steering Control Strategy for Multi-axle Heavy-duty Distributed Drive Electric Vehicles[J]. Journal of Mechanical Engineering, 2026, 62(8): 317-331.

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多轴重载分布式电驱动车辆全轮转向控制研究

Research on All-wheel Steering Control Strategy for Multi-axle Heavy-duty Distributed Drive Electric Vehicles

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