Combined AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles over CAN Network with Time-Varying Delays
Combined AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles over CAN Network with Time-Varying Delays
复制标题
基于 CAN 网络的时变延迟四轮独立驱动电动汽车的 AFS 和 DYC 组合控制
DOI：
10.1109/tvt.2013.2279843
复制
发表时间：
2014-02-01
影响因子：
6.8
通讯作者：
Ouyang, Minggao
中科院分区：
文献类型：
--
作者：
Shuai, Zhibin;Zhang, Hui;Ouyang, Minggao
研究了受车载网络时延影响的四轮独立驱动电动汽车的横向运动控制问题。众所周知，与传统的点对点通信相比，车载网络和线传技术具有相当大的优势。然而，另一方面，这些技术也会引起时变延迟的概率，这将降低控制性能，甚至使系统恶化。为了充分利用这一优势，并解决车载网络时延问题，本文提出了一种基于H∞的容忍时延线性二次型调节器（LQR）控制方法。该问题以增广离散时间模型的形式描述，其中包含由时滞决定的不确定元素。用泰勒级数展开将时滞不确定性表示为多面体形式。为了获得良好的稳态响应，采用了广义比例积分控制方法。反馈增益可以通过求解一系列线性矩阵不等式（lmi）得到。用Simulink和CarSim进行了联合仿真，验证了该控制器的有效性。与传统的LQR控制器进行了比较，以说明明确处理车载网络延迟的强度。
This paper deals with the lateral motion control of four-wheel-independent-drive electric vehicles (4WID-EVs) subject to onboard network-induced time delays. It is well known that the in-vehicle network and x-by-wire technologies have considerable advantages over the traditional point-to-point communication. However, on the other hand, these technologies would also induce the probability of time-varying delays, which would degrade control performance or even deteriorate the system. To enjoy the advantages and deal with in-vehicle network delays, an H∞-based delay-tolerant linear quadratic regulator (LQR) control method is proposed in this paper. The problem is described in the form of an augmented discrete-time model with uncertain elements determined by the delays. Delay uncertainties are expressed in the form of a polytope using Taylor series expansion. To achieve a good steady-state response, a generalized proportional-integral control approach is adopted. The feedback gains can be obtained by solving a sequence of linear matrix inequalities (LMIs). Cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller. Comparison with a conventional LQR controller is also carried out to illustrate the strength of explicitly dealing with in-vehicle network delays.