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机械工程学报

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 332-348.doi: 10.3901/JME.260209

• 特邀专辑：汽车线控底盘 • 上一篇    下一篇

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基于瞬时转向中心的四轮独立转向车辆协同控制策略

徐飞翔1,2, 黄振华1, 王亚飞3, 冯仕咏1, 周晨1,2   

  1. 1. 中国矿业大学信息与控制工程学院 徐州 221000;
    2. 浙江大学流体动力基础件与机电系统全国重点实验室 杭州 310027;
    3. 上海交通大学机械与动力工程学院 上海 200240
  • 收稿日期:2025-04-30 修回日期:2025-10-15 出版日期:2026-04-20 发布日期:2026-06-12
  • 作者简介:徐飞翔,男,1992年出生,博士,副教授,博士研究生导师。主要研究方向为车辆动力学控制、线控底盘控制。E-mail:xufx92@cumt.edu.cn;周晨(通信作者),女,1993年出生,博士,讲师。主要研究方向为车辆动力学控制、线控底盘设计及控制。E-mail:zc111@cumt.edu.cn
  • 基金资助:
    国家自然科学基金(52475143);江苏省自然科学基金(BK20241638);流体动力基础件与机电系统全国重点实验室开放基金(GZKF-202421)资助项目。

Wheel Cooperative Control Method for 4WIS Vehicles Based on Steering Center

XU Feixiang1,2, HUANG Zhenhua1, WANG Yafei3, FENG Shiyong1, ZHOU Chen1,2   

  1. 1. School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221000;
    2. State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027;
    3. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240
  • Received:2025-04-30 Revised:2025-10-15 Online:2026-04-20 Published:2026-06-12

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摘要： 传统四轮独立转向车辆转向控制策略在车轮受不确定性干扰时,各独立调控的车轮转角无法保证运动学约束从而影响车辆运动协调性。为此，提出一种基于瞬时转向中心的四轮独立转向车辆协同控制策略。首先，建立车辆动力学模型、转向机构模型和整车能耗模型。其次，选取费马点作为车轮转轴不交汇时的瞬时转向中心，构建不确定性干扰下各车轮转角之间的虚拟连接机制，获得各车轮实时的运动学约束转角。然后，结合目标瞬时转向中心和基于费马点的车轮转角虚拟连接机制，构建四轮独立转向车辆复合协同控制策略，其中目标控制环通过目标转角误差控制车轮转角收敛回目标值，瞬时控制环通过瞬时转角误差控制车轮跟踪瞬时转向中心保证运动学约束，两种控制环协同作用保证车辆运动协调性与控制系统鲁棒性。最后，选取车轮转向角、轮胎侧偏角、车辆动能、转向机构总能耗和轮胎滑移损耗作为评价指标，基于Matlab/Simulink仿真平台和自主研制的四轮独立转向电动叉车，在不同干扰下与其他协同控制策略进行对比分析，验证所提出的协同控制策略的有效性。在对单个车轮施加干扰的仿真工况下，相比于位置控制策略，所提出的协同控制策略能使车辆平均最大轮胎侧偏角下降68.38%，轮胎滑移损耗降低22.26%。仿真和整车试验结果表明所提出的协同控制策略能在不确定性干扰下协同调整四个独立车轮，降低车辆侧偏角与轮胎滑移损耗，提高车辆运动协调性。

关键词: 四轮独立转向车辆, 费马点, 瞬时转向中心, 运动学约束, 协同控制

Abstract: Traditional four-wheel independent steering(4 WIS) control strategies often fail to maintain kinematic constraints under wheel disturbances, compromising vehicle motion coordination. To address this, a cooperative control strategy based on the instantaneous center of rotation(ICR) is proposed. First, vehicle dynamics, steering mechanism, and overall energy consumption models are established. The Fermat point is introduced as the ICR when wheel axes do not intersect, and a virtual linkage mechanism is designed to correlate wheel steering angles under uncertainty, ensuring real-time kinematic constraints. A compound control strategy is developed, where a target control loop drives the wheel angles to converge to the desired values, and an instantaneous control loop ensures tracking of the ICR to maintain kinematic coordination. These loops work collaboratively to improve vehicle motion coordination and control robustness. Finally, using steering angles, tire sideslip angles, vehicle kinetic energy, total steering energy consumption, and tire slip loss as evaluation metrics, the proposed strategy is validated through Matlab/Simulink simulations and experiments on a self-developed 4 WIS electric forklift under different disturbance conditions. Results show that under single-wheel disturbances, compared to position control, the proposed strategy reduces the average maximum tire sideslip angle by 68.38% and slip loss by 22.26%, effectively enhancing vehicle motion coordination under uncertainty.

Key words: four-wheel independent steering vehicle, fermat point, instantaneous center of rotation, kinematic constraints, cooperative control

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