未知时变扰动下的车轮滑移率鲁棒非线性跟踪控制

Robust nonlinear tracking control of wheel slip with unknown time-varying disturbance

针对自动驾驶电动汽车对车轮滑移率跟踪控制的需求,提出一种对未知时变扰动具有强鲁棒性的车轮滑移率非线性跟踪控制策略.首先,基于Burckhardt轮胎模型建立车轮滑移率跟踪控制模型;随后,基于车轮滑移率跟踪控制模型设计非线性干扰观测器,通过在线估计和补偿未知时变扰动来提高系统的鲁棒性,并基于有限时间和快速终端滑模理论设计车轮滑移率鲁棒非线性跟踪控制律;最后,基于车辆动力学仿真软件,验证车轮滑移率鲁棒非线性跟踪控制策略的可行性和有效性.结果表明,该策略对未知时变扰动具有较强的鲁棒性,并且能够快速、准确和稳定地跟踪任意期望的连续车轮滑移率,车轮滑移率跟踪残差控制在0.32%以内,满足自动驾驶电动汽车的需求.

Aiming at the requirement of self-driving electric vehicle for wheel slip tracking control,a nonlinear wheel slip tracking control strategy with the robustness against the unknown time-varying disturbance was proposed.First,the wheel slip tracking control model was established based on the Burckhardt tire model.Then,based on the wheel slip tracking control model,a nonlinear disturbance observer was designed to improve the robustness of the system by the online estimation and the compensation for an unknown time-varying disturbance,and a robust nonlinear wheel slip tracking control law was designed based on the finite time and the fast terminal sliding mode theory.Finally,the feasibility and the validity of the robust nonlinear wheel slip tracking control strategy were verified by the vehicle dynamics simulation software.The results show that the proposed strategy has strong robustness against the unknown time-varying disturbance and can track any desired continuous wheel slip rapidly and steadily.The tracking residual of the wheel slip can be controlled within 0.32%,thus meeting the requirements of self-driving electric vehicles.