考虑驾驶员特性的四轮独立驱动电动汽车转向控制研究

Study on Steering Control for Four Wheel Independent Drive Electrical Vehicle Considering Driver Characteristic

四轮独立驱动电动汽车四轮驱动力矩独立可控,在汽车控制方面相对于传统汽车具有显著优势,通过建立驾驶员不同转向特性参考模型和四轮驱动力矩控制进行考虑驾驶员特性的四轮独立驱动电动汽车转向控制研究。基于驾驶模拟器实验,在对驾驶员转向特性进行分类和建立辨识模型的基础上,采用RBF神经网络建立了驾驶员不同转向特性的参考模型,给出了考虑驾驶员转向特性的整车控制原理,应用驾驶模拟器对所研究的控制方法进行了验证。验证结果表明:参考模型输出能够反映不同转向特性驾驶员期望的车辆响应,通过对四轮驱动力矩合理控制实现汽车跟踪驾驶员期望。

Because four-wheel drive torque are individually controllable, there are significant advantages for four wheel independent drive electric vehicle compare to conventional vehicles. Steering control for four wheel inde- pendent drive electrical vehicle considering driver characteristic is studied based on the establishment of different driver steering characteristics reference models and four-wheel drive torque control. The driverg steering character- istics classification are done and identification models are established through the driving simulator experiments, based on which the different driverg steering characteristics reference models are established using the RBF neural network. The vehicle control principle are given and the control method is verified based on driving simulator. The verification results show that the reference model output can reflect the desired vehicle response of the different driver steering characteristics and the vehicle track the driver expectations by controlling the four-wheel drive torque reasonably.