4WID/S全电汽车多电机协调与主动转向控制研究

Research on Multi-motors Coordination and Active Steering of 4WID/S Electric Vehicle

采用线性自抗扰控制(LADRC)策略提升四轮独立牵引/转向(4WID/S)线控主动转向性能,观测转向装置未知扰动并补偿,实时修正车轮转角;设计抛物线速度控制曲线,协调控制4台电机转向。结果表明,LADRC提高了横摆角速度跟随性、抗扰性和车辆操纵稳定性,防止转向时电机丢步。

The linear active disturbance rejection control(LADRC)strategy is adopted to improve the wire controlled active steering performance of four-wheel independent traction/steering(4WID/S),observe and compensate the unknown disturbance of the steering device,and correct the wheel angle in real time.Parabolic speed control curve is designed to coordinate and control the steering of 4 motors.The results show that LADRC improves the yaw rate following,antiinterference and vehicle handling stability,and prevents the motors from out of step during steering.