角模块架构电动汽车单轮跨越障碍底盘协同控制

doi:10.3901/JME.260280

摘要/Abstract

摘要： 角模块架构电动汽车在恶劣路况下较常规车辆可具备更好的通过性和稳定性。为解决车辆行驶时任意车轮遇到无法绕行的路面低矮障碍而带来的难以通行问题，设计了一种基于底盘协同的单轮跨越障碍行驶稳定性控制策略。首先，建立了用于模拟单轮悬空三轮行驶工况的变自由度动力学模型；其次，通过质心转移保证三轮行驶稳定性，悬空车轮对角车轮的垂向载荷较小，整车重量主要由其余两轮承受；再次，三轮行驶时各车轮垂向载荷变化，这不仅导致滑动率变化引起纵向力改变，还会导致侧偏刚度改变进而影响转向特性，两者均会导致路径偏离；随后，设计了基于主动悬架的变自由度控制器、避免驱动轮滑动率过大的牵引力控制系统和保证行驶方向稳定性的路径跟踪控制器，并基于上述控制器集成设计底盘协同控制器；最后，进行了变自由度控制的实车验证和相应路况的仿真验证，结果表明：所设计的主动悬架控制器能够可靠地实现实车的变自由度操作，并保持稳定；该底盘协同控制器能有效保障车辆安全跨越高度200 mm、宽度300 mm的低矮障碍，同时保持了良好的路径跟踪性能，最大偏差仅为64 mm，显著提升了车辆的通过性和行驶稳定性。

关键词: 电动汽车, 角模块架构, 变自由度控制, 底盘协同, 路径跟踪

Abstract: Corner module architecture electric vehicles demonstrate superior trafficability and stability over conventional vehicles in challenging road conditions. To address the problem of passing over low obstacles that cannot be circumvented and may be encountered by any wheel during driving, this paper designs a coordinated chassis control strategy for stabilizing the vehicle during single wheel obstacle crossing. Firstly, a variable degree-of-freedom dynamics model is established to simulate the three-wheel driving scenario with one wheel lifted. Secondly, stability during three-wheel driving is ensured through centroid transfer. The vertical load on the wheel diagonally opposite to the lifted wheel is significantly reduced, allowing the majority of the vehicle's weight to be supported by the remaining two wheels. Furthermore, during three-wheel driving, changes occur in the vertical loads on each wheel. These variations not only lead to alterations in slip rates, resulting in changes to longitudinal forces, but also cause shifts in cornering stiffness, which in turn affect steering characteristics. Both effects contribute to path deviation. Subsequently, a variable degree-of-freedom controller based on active suspension was designed, along with a traction control system to prevent excessive slip of the driving wheels and a path-following controller to ensure directional stability. These controllers were integrated to form a coordinated chassis control system. Finally, real vehicle tests of the variable degree-of-freedom control and simulation verification under corresponding road conditions demonstrate that the designed active suspension controller reliably achieves variable degree-of-freedom operation on the real vehicle and maintains stability thereafter. The coordinated chassis controller effectively ensures the vehicle safely traverses low obstacles with a height of 200 mm and a width of 300 mm, while maintaining excellent path tracking performance with a maximum deviation of only 64 mm, significantly improving the vehicle's mobility and driving stability.

Key words: electric vehicles, corner module architecture, variable degree-of-freedom control, chassis coordination, path tracking

中图分类号:

U467

刘帅帅, 张利鹏, 马浩然, 王兴宇, 张俊达, 赵明慧, 甄龙信. 角模块架构电动汽车单轮跨越障碍底盘协同控制[J]. 机械工程学报, 2026, 62(8): 382-397.

LIU Shuaishuai, ZHANG Lipeng, MA Haoran, WANG Xingyu, ZHANG Junda, ZHAO Minghui, ZHEN Longxin. Chassis Coordinated Control for Corner Module Architecture Electric Vehicles with Single Wheel Overcoming Obstacle[J]. Journal of Mechanical Engineering, 2026, 62(8): 382-397.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260280

http://www.cjmenet.com.cn/CN/Y2026/V62/I8/382

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