高速低附着工况下四轮独立多模转向系统多模式切换稳定性控制方法

doi:10.3901/JME.260288

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 349-364.doi: 10.3901/JME.260288

• 特邀专辑：汽车线控底盘 • 上一篇下一篇

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高速低附着工况下四轮独立多模转向系统多模式切换稳定性控制方法

栾众楷, 时锋, 赵万忠, 王春燕

南京航空航天大学能源与动力学院南京 210016

收稿日期:2025-08-01 修回日期:2025-11-25 出版日期:2026-04-20 发布日期:2026-06-12
作者简介:栾众楷,男,1994年出生,博士,讲师。主要研究方向为汽车线控底盘控制技术。E-mail:zkluan@nuaa.edu.cn;时锋,男,2004年出生。主要研究方向为分布式汽车线控底盘技术。E-mail:shif@nuaa.edu.cn;赵万忠(通信作者),男,1982年出生,教授,博士研究生导师。主要研究方向为分布式汽车线控底盘技术。E-mail:zwz@nuaa.edu.cn;王春燕,女,1977年出生,博士,教授,博士研究生导师。主要研究方向为汽车系统动力学与控制。E-mail:wcy2000@126.com
基金资助:
国家自然科学基金(52402474);江苏省青年基金(BK20241421)资助项目。

Multi-mode Switching Stability Control Method of the Four-wheel Independent Steering System under High Speed and Low Adhesion Conditions

LUAN Zhongkai, SHI Feng, ZHAO Wanzhong, WANG Chunyan

College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Received:2025-08-01 Revised:2025-11-25 Online:2026-04-20 Published:2026-06-12

摘要/Abstract

摘要： 四轮独立多模转向系统融合了四轮转向与轮毂电机差动转向功能，具备前轮转向、四轮协同转向及差动复合转向等多种工作模式，可依据不同行驶工况实现转向模式的动态重构，显著提升车辆在复杂行驶条件下的动态稳定性。针对高速行驶、低附着路面等复杂工况下，不同转向模式在车辆稳定性控制能力上存在显著差异、且模式切换判据不明等问题，提出一种基于分层控制架构的多模式切换稳定性控制方法。上层构建多转向模式下的稳定边界定量描述方法，明确不同工况下的稳定域范围和转向模式切换判据；下层将系统建模为含三子系统的切换系统，基于相平面稳定边界构建模式切换逻辑，并结合多Lyapunov函数与最小驻留时间约束设计切换控制器，以保障模式切换下的渐近稳定性。通过Carsim与Matlab/Simulink联合仿真进行验证，结果表明，所提出的多模式切换稳定性控制方法能够根据工况变化自适应选择最优转向模式，有效抑制高速、低附条件下的质心侧偏角和横摆角速度波动，显著提升车辆在极限工况下的行驶稳定性。

关键词: 四轮独立多模转向系统, 转向模式切换, 临界稳定边界, 多Lyapunov函数

Abstract: The four-wheel independent multi-mode steering system integrates four-wheel steering and in-wheel motor differential steering functions, enabling multiple steering modes such as front-wheel, four-wheel, and compound steering. Under varying speeds and road adhesion conditions, the critical stability boundaries associated with each steering mode differ significantly and evolve dynamically. To address this, a hierarchical multi-mode switching stability control method is proposed. The upper layer formulates a quantitative description of stability boundaries under different steering modes, defining the stable domains and switching criteria across various driving conditions. The lower layer models the system as a switched system composed of multiple subsystems and employs a common Lyapunov function to design the switching control strategy, ensuring globally asymptotic stability during mode transitions. The proposed method is validated through co-simulation using Carsim and MATLAB/Simulink. Results demonstrate that the approach effectively suppresses vehicle sideslip angle and yaw rate fluctuations under high-speed and low-adhesion conditions, thereby enhancing vehicle stability in extreme driving scenarios.

Key words: four-wheel independent steering system, mode switching, critical stability boundary, common Lyapunov function

中图分类号:

U461

栾众楷, 时锋, 赵万忠, 王春燕. 高速低附着工况下四轮独立多模转向系统多模式切换稳定性控制方法[J]. 机械工程学报, 2026, 62(8): 349-364.

LUAN Zhongkai, SHI Feng, ZHAO Wanzhong, WANG Chunyan. Multi-mode Switching Stability Control Method of the Four-wheel Independent Steering System under High Speed and Low Adhesion Conditions[J]. Journal of Mechanical Engineering, 2026, 62(8): 349-364.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I8/349

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高速低附着工况下四轮独立多模转向系统多模式切换稳定性控制方法

Multi-mode Switching Stability Control Method of the Four-wheel Independent Steering System under High Speed and Low Adhesion Conditions

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