摘要
针对电动轮汽车全新的底盘结构策略,采用分层控制,将姿态跟踪与底盘操纵量优化分配相结合,上层姿态控制器采用精确线性化控制策略克服系统非线性,生成改善行驶姿态所需合力矩;下层分配控制器采用二次规划算法,优化因四轮独立驱动而形成的冗余执行机构,综合实现姿态参数跟踪误差和轮胎力输出最小化,优化分配驱动扭矩、制动扭矩,减少整车能耗。仿真结果表明,该控制结构可使运行轨迹很好地跟踪驾驶员给定轨迹且车辆操作稳定性及安全性均得到明显的提高。
Contraposing the new chassis structure, a hierarchical vehicle stability control strategy was used and combined the gesture tracking and chassis manipulated variable optimized allocation. The high level of the control strategy conquered the system nonlinear by adopting precise linearization control strategy, which proposed the required torque for the improved steer structure. Quadratic pro- gramming was used in the low level, which aimed at optimizing the redundant actuator, minimizing the output of the tracking errors and tire force posture parameters, and decreasing energy consump- tion of the vehicle. The simulation results indicate that the proposed method can enhance the vehicle handling stability, the control efficiency is also improved.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2015年第8期1124-1128,共5页
China Mechanical Engineering
基金
沈阳市科学计划项目(F12-277-1-11)
关键词
冗余执行机构
优化分配
主动安全控制
分层控制
redundant actuator
optimal allocation
active safety control
hierarchical control
