Stability Control of Distributed Driving Six-wheel Steering Commercial Vehicles Based on Nonlinear Exponential Triggering

doi:10.3901/JME.2025.18.240

Abstract

Abstract: The introduction of multi-wheel steering and additional yaw moment system is helpful to enhance the path tracking capability of intelligent commercial vehicles and improve their dynamic stability under limited conditions, but how to deal with the coupling between multiple sub-systems and the redundancy and conflict during intervention is a key problem. For this problem, the Lyapunov exponents is introduced, and the real-time nonlinear trigger index is constructed based on the average rate of vector expansion or contraction of states in infinite time. When the stability index reaches the trigger threshold of each subsystem, the middle-rear wheel assist steering is controlled by integrating terminal sliding mode control, the additional yaw moment is controlled by proportional-integral-differential sliding mode control, and the optimal distribution of each wheel drive torque is completed. At the same time, a subsystem trigger logic architecture containing dynamic margin is proposed to solve the control fluctuation caused by frequent subsystem intervention. Finally, the algorithm is verified by Simulink-TruckSim co-simulation. The results show that：in the high-speed domain, the mechanism can be timely triggered each subsystem, reducing the trigger frequency, and giving full play to the limited stability of the vehicle. In the low speed domain, the trigger mechanism avoids the unnecessary subsystem response when the vehicle is stabilized, and reduces the negative effect caused by the redundancy of multiple subsystems. On the premise of ensuring vehicle stability, the trigger mechanism does not adversely affect the path tracking performance.

Key words: distributed driving, six-wheel steering commercial vehicles, Lyapunov exponents, stability control, event triggering

CLC Number:

TG156

SHI Xuanyu, CAI Yingfeng, WANG Hai, SUN Xiaoqiang, CHEN Long, YANG Chao. Stability Control of Distributed Driving Six-wheel Steering Commercial Vehicles Based on Nonlinear Exponential Triggering[J]. Journal of Mechanical Engineering, 2025, 61(18): 240-251.

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