Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration
Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration
复制标题
考虑轮胎力饱和的四轮独立驱动电动汽车鲁棒侧向运动控制
DOI：
10.1016/j.jfranklin.2014.09.019
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发表时间：
2015-02-01
影响因子：
4.1
通讯作者：
Chen, Nan
中科院分区：
文献类型：
--
作者：
Wang, Rongrong;Zhang, Hui;Chen, Nan
提出了一种考虑轮胎力饱和的四轮独立驱动电动地面车辆横向平面运动稳定性控制方法。为了处理可能的建模误差和参数不确定性，基于线性变参数（LPV）的鲁棒H ∞控制器的设计，以产生期望的外部偏航力矩。较低级别的控制器操作四个轮内（或轮毂）电机，例如可以满足所需的控制努力。在不使用基于数值优化的控制分配算法的情况下，给出了一种分析方法来分配高层控制努力。在控制分配设计中还明确考虑了轮胎力约束。基于高保真CarSim整车模型的仿真结果表明了该控制方法的有效性。(C)2014年富兰克林研究所。由爱思唯尔有限公司出版。保留所有权利。
The paper presents a vehicle lateral-plane motion stability control approach for four-wheel independently actuated (FWIA) electric ground vehicles considering the tire force saturations. In order to deal with the possible modeling inaccuracies and parametric uncertainties, a linear parameter-varying (LPV) based robust H-infinity controller is designed to yield the desired external yaw moment. The lower-level controller operates the four in-wheel (or hub) motors such as the required control efforts can be satisfied. An analytical method without using the numerical-optimization based control allocation algorithms is given to distribute the higher-level control efforts. The tire force constraints are also explicitly considered in the control allocation design. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the control approach. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.