四轮独立转向分布式驱动电动汽车单轮转向失效行驶稳定性控制

doi:10.3901/JME.2024.10.507

机械工程学报 ›› 2024, Vol. 60 ›› Issue (10): 507-522.doi: 10.3901/JME.2024.10.507

• 先进控制技术 • 上一篇

扫码分享

四轮独立转向分布式驱动电动汽车单轮转向失效行驶稳定性控制

赵明慧^1,2, 郭浩然^1,2, 张利鹏^1,2, 刘欣^1,2

1. 河北省特种运载装备重点实验室秦皇岛 066004;
2. 燕山大学车辆与能源学院秦皇岛 066004

收稿日期:2023-08-08 修回日期:2024-03-12 出版日期:2024-05-20 发布日期:2024-07-24
作者简介:赵明慧,女,1979年出生,博士,讲师。主要研究方向为
智能车辆动力学与控制。
E-mail:zmh433@ysu.edu.cn
郭浩然,男,1999年出生。主要研究方向为智能车辆动力学与控制。
E-mail:guo18661565405@163.com
张利鹏(通信作者),男,1979年出生,博士,教授,博士研究生导师。主要研究方向为智能车辆动力学与控制、新能源汽车复合传动。
E-mail:evzlp@ysu.edu.cn
刘欣,女,1999年出生。主要研究方向为智能车辆动力学与控制。
E-mail:1687326838@qq.com
基金资助:
国家自然科学基金(52272407)、中央引导地方科技发展资金(226Z2202G)、河北省自然科学基金(E2020203174)和河北省高等学校科学研究重点(ZD2022029)资助项目。

Driving Stability Control of Four-wheel Independent Steering Distributed Drive Electric Vehicle with Single Wheel Steering Failure

Zhao Minghui^1,2, Guo Haoran^1,2, Zhang Lipeng^1,2, Liu Xin^1,2

1. Hebei Key Laboratory of Special Carrier Equipment, Qinhuangdao 066004;
2. School of Vehicle and Energy, Yanshan University, Qinhuangdao 066004

Received:2023-08-08 Revised:2024-03-12 Online:2024-05-20 Published:2024-07-24

摘要/Abstract

摘要： 四轮独立转向分布式驱动电动汽车具备常规车辆无法比拟的机动性、通过性和操纵稳定性，但其复杂的结构特点以及执行器的高度冗余加大了转向系统驱动电机失效的风险。针对单轮转向失效行驶稳定性问题，通过分析后轮主动转向对于车身稳定性的影响，采用附加后轮转向的单轨模型作为稳态参考模型，提出一种轮胎力可分配重构的分层控制方法。首先，根据轮胎侧偏状态确定各轮转向控制方式，考虑转向失效冲击和横摆角误差累积，设计基于参数自适应的递归非奇异终端滑模控制器即上层控制器；然后，以最小化轮胎负荷率作为优化目标，根据车辆状态动态调整执行机构的介入和退出，重新分配车轮转角和驱动/制动力矩来设计下层控制器；最后，通过离线仿真和控制器在环仿真对所提控制方法进行验证。结果表明，在单轮转向失效的工况下，所设计的控制器相比于普通滑模控制器使最大横向位置误差分别降低了85.2%和88.1%，使最大横摆角误差分别降低了81.8%和81.5%，可以使四轮独立转向分布式驱动电动汽车保持良好的行驶稳定性。

关键词: 电动汽车, 四轮独立转向, 四轮独立驱动, 转向失效, 分配重构, 行驶稳定性

Abstract: Four-wheel independent steering distributed drive electric vehicle has unmatched mobility, traffic ability and handling stability of conventional vehicles, but its complex structural characteristics and high redundancy of actuators increase the risk of steering motors failure. Aiming at the driving stability problem under the failure of single wheel steering, by analyzing the influence of active steering of rear wheels on body stability and using the monorail model with additional rear wheel steering as the steady-state reference model, a hierarchical control method based on tire force distributable reconstruction is proposed. At first, the steering control method of each wheel is determined according to the side deviation state of the tires，considering the steering failure shock and the accumulation of yaw angle error, a recursive non-singular terminal sliding mode controller as the upper level controller is designed based on parameter adaptation. Then, using he minimum tire load rate as the optimization goal, the intervention and withdrawal of the actuator are dynamically adjusted according to the vehicle state, and the wheel steering angles and driving or braking torques are redistributed to design the lower-level controller. Finally, the proposed control method is verified by off-line simulation and controller-in-the-loop simulation. The results show that the designed controller can reduce the maximum lateral position error by 85.2% and 88.1% respectively compared with the common sliding mode controller under the condition of single wheel steering failure, the maximum yaw angle error is reduced by 81.8% and 81.5% respectively, which can keep good driving stability of four-wheel independent steering distributed drive electric vehicle.

Key words: dlectric vehicle, four-wheel independent steering, four-wheel independent drive, steering failure, assignable reconfiguration, driving stability

中图分类号:

U467

赵明慧, 郭浩然, 张利鹏, 刘欣. 四轮独立转向分布式驱动电动汽车单轮转向失效行驶稳定性控制[J]. 机械工程学报, 2024, 60(10): 507-522.

Zhao Minghui, Guo Haoran, Zhang Lipeng, Liu Xin. Driving Stability Control of Four-wheel Independent Steering Distributed Drive Electric Vehicle with Single Wheel Steering Failure[J]. Journal of Mechanical Engineering, 2024, 60(10): 507-522.

参考文献

[1] 佘承其, 张照生, 刘鹏, 等. 大数据分析技术在新能源汽车行业的应用综述——基于新能源汽车运行大数据[J]. 机械工程学报, 2019, 55(20):3-16. SHE Chengqi, ZHANG Zhaosheng, LIU Peng, et al. Overview of the application of big data analysis technology in new energy vehicle industry:Based on operating big data of new energy vehicle[J]. Journal of Mechanical Engineering, 2019, 55(20):3-16.
[2] 徐坤, 骆媛媛, 杨影, 等. 分布式电驱动车辆状态感知与控制研究综述[J]. 机械工程学报, 2019, 55(22):60-79. XU Kun, LUO Yuanyuan, YANG Ying, et al. Review on state perception and control for distributed drive electric vehicles[J]. Journal of Mechanical Engineering, 2019, 55(22):60-79.
[3] ZHANG Y, NI J, TIAN H, et al. Integrated robust dynamics control of all-wheel-independently-actuated unmanned ground vehicle in diagonal steering[J]. Mechanical Systems and Signal Processing, 2022, 164:108263.
[4] NI J, HU J, XIANG C. Control-configured-vehicle design and implementation on an X-by-wire electric vehicle[J]. IEEE Transactions on Vehicular Technology, 2018, 67(5):3755-3766.
[5] 田萌健, 李伟锋, 孟德乐, 等. 面向机动性与操纵稳定性的轮边集成底盘系统设计[J]. 机械工程学报, 2019, 55(22):11-20. TIAN Mengjian, LI Weifeng, MENG Dele, et al. Design of integrated corner module simultaneously meeting the requirements of mobility and handling stability[J]. Journal of Mechanical Engineering, 2019, 55(22):11-20.
[6] LI J, LIU J, SUN C, et al. Review:Research progress for electric vehicle hub motor driving rechnology[J]. Journal of Harbin Institute of Technology(New Series), 2020, 27(3):74-91.
[7] KRAUS M, HARKORT C, WUEBBOLT-GORBATENKO B, et al. Fusion of drive and chassis for a people mover[J]. ATZ Worldwide, 2018, 120(7-8):46-51.
[8] BÜNTE T, HO L M, SATZGER C, et al. Central vehicle dynamics control of the robotic research platform roboMobil[J]. ATZelektronik Worldwide, 2014, 9(3):58-64.
[9] HANG P, CHEN X. Integrated chassis control algorithm design for path tracking based on four-wheel steering and direct yaw-moment control[J]. Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 2019, 233(6):625-641.
[10] 陈俐, 李雄, 程小宣, 等. 汽车线控转向系统研究进展综述[J]. 汽车技术, 2018(4):23-34. CHEN Li, LI Xiong, CHENG Xiaoxuan, et al. Review on research progress of automobile steer-by-wire system[J]. Automotive Technology, 2018(4):23-34.
[11] 赵万忠, 张寒, 邹松春, 等. 线控转向系统控制技术综述[J]. 汽车安全与节能学报, 2021, 12(1):18-34. ZHAO Wanzhong, ZHANG Han, ZOU Songchun, et al. Overview of vehicle steer-by-wire system control technologies[J]. Journal of Automotive Safety and Energy Conservation, 2021, 12(1):18-34.
[12] HAYAMA R, HIGASHI M, KAWAHARA S, et al. Fault-tolerant automobile steering based on diversity of steer-by-wire, braking and acceleration[J]. Reliability Engineering & System Safety, 2010, 95(1):10-17.
[13] HUANG C, NAGHDY F, DU H. Delta operator-based fault estimation and fault-tolerant model predictive control for seer-by-wire systems[J]. IEEE Transactions on Control Systems Technology, 2018, 26(5):1810-1817.
[14] 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.
[15] ITO A, HAYAKAWA Y. Design of fault tolerant control system for electric vehicles with steer-by-wire and in-wheel motors[J]. IFAC Proceedings Volumes, 2013, 46(21):556-561.
[16] 罗禹贡, 陈锐, 胡云. 分布式电驱动车辆线控转向系统MFAC主动容错控制[J]. 机械工程学报, 2019, 55(22):131-139. LUO Yugong, CHEN Rui, HU Yun. Active fault-tolerant control based on MFAC or 4WID EV with steering by wire system[J]. Journal of Mechanical Engineering, 2019, 55(22):131-139.
[17] 张雷, 王子浩, 孙逢春, 等. 四轮轮毂电机驱动智能电动汽车转向失效容错控制研究[J]. 机械工程学报, 2021, 57(20):141-152. ZHANG Lei, WANG Zihao, SUN Fengchun, et al. Fault-tolerant control for intelligent four-wheel-independently-actuated electric vehicles under complete steer-by-wire system failure[J]. Journal of Mechanical Engineering, 2021, 57(20):141-152.
[18] CHEN T, CAI Y, CHEN L, et al. Trajectory tracking control of steer-by-wire autonomous ground vehicle considering the complete failure of vehicle steering motor[J]. Simulation Modelling Practice and Theory, 2021, 109:102235.
[19] LI B, DU H, LI W. Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers[J]. Mechanical Systems and Signal Processing, 2016, 72-73:462-485.
[20] GUO J, LUO Y, LI K. Robust H∞ fault-tolerant lateral control of four-wheel-steering autonomous vehicles[J]. International Journal of Automotive Technology, 2020, 21(4):993-1000.
[21] WANG C, HENG B, ZHAO W. Yaw and lateral stability control for four-wheel-independent steering and four-wheel-independent driving electric vehicle[J]. Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2020, 234(2-3):409-422.
[22] ZHANG Y, ZHENG H, ZHANG J, et al. A fault-tolerant control method for 4WIS/4WID electric vehicles based on reconfigurable control allocation[C]//WCX World Congress Experience. 2018:2018-01-0560.
[23] LIU Y, ZONG C, ZHANG D, et al. Fault-tolerant control approach based on constraint control allocation for 4WIS/4WID vehicles[J]. Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2021, 235(8):2281-2295.
[24] LAM T L, QIAN H, XU Y. Omnidirectional steering interface and control for a four-wheel independent steering vehicle[J]. IEEE/ASME Transactions on Mechatronics, 2010, 15(3):329-338.
[25] XU F, LIU X, CHEN W, et al. Dynamic switch control of steering modes for four wheel independent steering rescue vehicle[J]. IEEE Access, 2019(7):135595-135605.
[26] 宗长富, 孙浩, 陈国迎. 分布式独立转向车辆的转角分配方法[J]. 华南理工大学学报(自然科学版), 2017, 45(2):16-22. ZONG Changfu, SUN Hao, CHEN Guoying. Angle allocation method for distributed independent steering vehicles[J]. Journal of South China University of Technology (Natural Science Edition), 2017, 45(2):16-22.
[27] 何铮斌. 转向工况下四轮驱动汽车扭矩分配控制研究[D]. 重庆:重庆大学, 2012. HE Zhengbin. Research on torque distribution control for four wheel drive vehicle under steering condition[D]. Chongqing:Chongqing University, 2012.
[28] 刘瑞, 朱西产, 李霖. 紧急变道工况鲁棒性车辆轨迹跟踪策略[J]. 同济大学学报(自然科学版), 2017, 45(11):1659-1663. LIU Rui, ZHU Xichan, LI Lin. Robust trajectory following strategy during emergency lane-change condition[J]. Journal of Tongji University (Natural Science Edition), 2017, 45(11):1659-1663.
[29] ZHANG L, LI L, LIN C, et al. Coaxial-coupling traction control for a four-wheel-independent-drive electric vehicle on a complex road[J]. Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2014, 228(12):1398-1414.
[30] LI B, DU H, LI W, et al. Side-slip angle estimation based lateral dynamics control for omni-directional vehicles with optimal steering angle and traction/brake torque distribution[J]. Mechatronics, 2015, 30:348-362.
[31] HANG P, CHEN X. Towards autonomous driving:Review and perspectives on configuration and control of four-wheel independent drive/steering electric vehicles[J]. Actuators, 2021, 10(8):184.
[32] HSU Y H J, LAWS S, GADDA C D, et al. A method to estimate the friction coefficient and tire slip angle using steering torque[C]//Dynamic Systems and Control, Parts A and B. Chicago, Illinois, USA:ASMEDC, 2006:515-524.
[33] WANG J, LONGORIA R G. Coordinated and reconfigurable vehicle dynamics control[J]. IEEE Transactions on Control Systems Technology, 2009, 17(3):723-732.
[34] 徐驰, 赵希梅. 永磁直线同步电动机智能递归非奇异终端滑模控制[J]. 控制理论与应用, 2022, 39(7):1242-1250. XU Chi, ZHAO Ximei. Intelligent recursive nonsingular terminal sliding mode control of permanent magnet linear synchronous motor[J]. Control Theory & Applications, 2022, 39(7):1242-1250.
[35] ZHANG X, SUN L, ZHAO K, et al. Nonlinear speed control for PMSM system using sliding-mode control and disturbance compensation techniques[J]. IEEE Transactions on Power Electronics, 2013, 28(3):1358-1365.
[36] 张袅娜. 终端滑模控制理论及应用[M]. 北京:科学出版社, 2011. ZHANG Niaona. Theory and application of terminal sliding mode control[M]. Beijing:Science Press, 2011.
[37] KIM H, SON J, LEE J. A high-speed sliding-mode observer for the sensorless speed control of a PMSM[J]. IEEE Transactions on Industrial Electronics, 2011, 58(9):4069-4077.
[38] 宋攀. 全线控四轮独立转向/驱动/制动电动汽车动力学集成控制研究[D]. 长春:吉林大学, 2015. SONG Pan. Research on vehicle dynamic integrated control for a fully drive-by-wire vehicle with four-wheel-distributed steering and four-wheel-distributed traction/braking systems[D]. Changchun:Jilin University, 2015.
[39] 焦广宽. 四轮独立驱动/转向电动汽车纵横向力协同与容错控制研究[D]. 重庆:重庆大学, 2018. JIAO Guangkuan. Study on longitudinal and lateral force coordinated control of four wheel independent driving/steering electric vehicle[D]. Chongqing:Chongqing University, 2018.
[40] 陈辛波, 罗杰, 杭鹏, 等. 某新型线控转向系统的自适应模糊滑模控制[J]. 汽车工程, 2018, 40(5):568-574. CHEN Xinbo, LUO Jie, HANG Peng, et al. Adaptive fuzzy sliding mode control for a novel steering-by-wire system[J]. Automotive Engineering, 2018, 40(5):568-574.

四轮独立转向分布式驱动电动汽车单轮转向失效行驶稳定性控制

Driving Stability Control of Four-wheel Independent Steering Distributed Drive Electric Vehicle with Single Wheel Steering Failure

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	周晨, 徐飞翔. 四轮独立转向车辆转向模式切换轨迹多目标优化方法研究[J]. 机械工程学报, 2024, 60(6): 306-320.
[2]	金贤建, 王佳栋, 徐利伟, 严择圆, 卢彦博, 殷国栋, 陈南. 轮毂电机驱动电动汽车主动悬架μ综合鲁棒控制研究[J]. 机械工程学报, 2024, 60(16): 259-269.
[3]	张奇祥, 王金湘, 张伊晗, 张荣林, 靳立强, 殷国栋. 智能电动汽车线控制动关键技术与研究进展[J]. 机械工程学报, 2024, 60(10): 339-365.
[4]	张雷, 王祺, 王震坡, 丁晓林, 孙逢春. 基于线控制动的分布式驱动电动汽车制动俯仰角舒适控制研究[J]. 机械工程学报, 2024, 60(10): 463-475.
[5]	吴建洋, 王震坡, 张雷, 丁晓林. 四轮轮毂电机驱动电动汽车纵侧向稳定性协调控制策略研究[J]. 机械工程学报, 2023, 59(4): 163-172.
[6]	肖宗鑫, 胡明辉, 石力王, 周安健. 电动汽车内置式永磁同步电机转子温度在线估计[J]. 机械工程学报, 2023, 59(24): 209-222.
[7]	来鑫, 马云杰, 郑岳久, 韩雪冰. 一种基于几何特征变换与迁移的锂离子电池电化学阻抗谱曲线重构方法[J]. 机械工程学报, 2023, 59(22): 140-149.
[8]	张雷, 徐同良, 李嗣阳, 程树辉, 丁晓林, 王震坡, 孙逢春. 全线控分布式驱动电动汽车底盘协同控制研究综述[J]. 机械工程学报, 2023, 59(20): 261-280.
[9]	邵嗣杨, 马翔, 袁伟, 张开宇, 傅晓飞, 黄晨宏. 含电动汽车的不确定性微电网鲁棒优化调度方法^*[J]. 电气工程学报, 2023, 18(2): 201-209.
[10]	魏洪乾, 赵文强, 艾强, 张幽彤, 王洪荣, 赖晨光, 邹喜红. 轮毂电机独立驱动电动汽车线性时变模型预测主动安全控制[J]. 机械工程学报, 2023, 59(14): 190-201.
[11]	沈童, 殷国栋, 任彦君, 王凡勋, 梁晋豪, 沙文瀚. 考虑轮胎弛豫特性的轮毂电机驱动电动汽车鲁棒自适应驱动防滑控制[J]. 机械工程学报, 2023, 59(14): 222-236.
[12]	李达, 张普琛, 林倪, 张照生, 王震坡, 邓钧君. 基于多模型耦合的电动汽车三电系统安全性估计方法[J]. 机械工程学报, 2023, 59(12): 354-363.
[13]	赵敬玉, 徐铖, 李晓宇. 基于实际行驶数据的电动汽车能耗分析与预测[J]. 机械工程学报, 2023, 59(10): 263-274.
[14]	周晨瑞, 盛光宗, 李升. 考虑电动汽车接入的微电网多目标优化调度^*[J]. 电气工程学报, 2023, 18(1): 211-218.
[15]	林棻, 蔡亦璋, 赵又群, 臧利国, 王少博. 匹配机械弹性车轮的分布式驱动电动汽车稳定性控制[J]. 机械工程学报, 2022, 58(8): 236-243.