Robust H∞ output-feedback yaw control for in-wheel motor driven electric vehicles with differential steering
Robust H∞ output-feedback yaw control for in-wheel motor driven electric vehicles with differential steering
复制标题
用于带差速转向的轮毂电机驱动电动汽车的鲁棒 H 输出反馈偏航控制
DOI：
10.1016/j.neucom.2015.08.015
复制
发表时间：
2016-01-15
期刊：
影响因子：
6
通讯作者：
Yan, Fengjun
中科院分区：
文献类型：
--
作者：
Wang, Rongrong;Jing, Hui;Yan, Fengjun
研究了主动前轮转向完全失效情况下，基于差动转向的轮载电机电动地面车辆的偏航控制问题。差动转向是一种新兴的转向机构，它是由IWM电动汽车左右两个车轮之间的差动扭矩产生的。在常规转向系统有缺陷的情况下，可以利用差速转向作为唯一的转向动力，从而避免对车辆造成危险后果。为此，考虑到期望转向角的不确定性和难以获得，设计了一种基于差动转向的鲁棒H_无穷输出反馈控制器来实现偏航稳定。考虑了转弯刚度和外部扰动的参数不确定性，使车辆对不同的行驶条件具有较强的鲁棒性。基于高保真整车模型的CarSim-Simulink联合仿真结果验证了所提出的控制器的有效性，保证了车辆的平稳性和操纵性。(C)2015爱思唯尔B.V.保留所有权利。
This paper investigates the yaw control issue for in-wheel-motor (IWM) electric ground vehicles (EGVs) based on the differential steering in the presence of the complete failure of the active front-wheel steering. Differential steering is an emerging steering mechanism, generated from the differential torque between the left and right wheels in IWM EGVs. In case that the regular steering system is defective, differential steering can be utilized to act as the sole steering power, and thus avoid dangerous consequences for vehicles. For this purpose, a robust H-infinity output-feedback controller based on differential steering is designed to achieve yaw stabilization, considering that the desired steering angle is uncertain and hard to obtain. Parameter uncertainties for the cornering stiffnesses and the external disturbances are considered to make vehicle robust to different driving conditions. CarSim-Simulink joint simulation results based on a high-fidelity and full-car model verify the effectiveness of the proposed controller to guarantee the equal vehicle handling and stability. (C) 2015 Elsevier B.V. All rights reserved.