Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm
Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm
复制标题
使用滑模算法解决车辆在松软和斜坡地形上的不确定滑移的扭矩矢量和后轮转向控制
DOI：
10.1109/tvt.2020.2974107
复制
发表时间：
2020-02
影响因子：
6.8
通讯作者：
Zhengtao Ding
中科院分区：
文献类型：
--
作者：
Zhongchao Liang;Jing Zhao;Zhen Dong;Yongfu Wang;Zhengtao Ding
越野车辆在松软和斜坡路面上行驶时，会发生严重的不确定性纵、横向滑移，车辆的侧偏刚度和车轮滑移率等参数往往不是常数。在本文中，提出了控制策略的每个车轮的扭矩和后轮转向角，以保持一个稳定的速度和接近一个理想的参考模型的越野车使用二阶滑模（SOSM）技术。考虑系统的不确定性和干扰，构造了一个观测器来估计车辆的实际侧滑角。然后，与有界的不确定性和干扰的条件下，复合超扭转（ST）控制器结合速度控制器的设计，以产生总转矩，微分转矩，后轮转向角。在此基础上，所提出的控制器已被验证，导致良好的鲁棒性，保持稳定的速度和接近理想的参考模型，通过使用最优转矩分配控制器在较低的层。与传统的横摆力矩控制器相比，后轮转向控制，所提出的控制器被证明是更有效的。
Off-road vehicles always experience serious uncertain longitudinal and lateral slips when running on soft and slope terrains, and some parameters of the vehicles, such as the cornering stiffness and the slip of wheels, are always not constants. In this paper, control strategies for the torque of each wheel and the rear-wheel-steering angle are proposed to maintain a stable velocity and approach an ideal reference model for the off-road vehicle by using second-order sliding mode (SOSM) techniques. An observer is constructed to estimate the actual sideslip angle of the vehicle with the consideration of uncertainties and disturbances of the system. Then, with conditions of bounded uncertainties and disturbances, composite super-twisting (ST) controllers combined with a velocity controller are designed to generate the total torque, the differential torque, and the rear-wheel-steering angle. On this basis, the proposed controllers have been verified to lead good robustness for maintaining the stable velocity and approaching the ideal reference model by using an optimal torque allocation controller at a lower layer. In comparison with conventional yaw moment controllers without the rear-wheel-steering control, the proposed controllers are shown to be more effective.
登录
查看更多内容
影响因子：
6.8
作者：
P. Freeman;Matthew J. Jensen;J. Wagner;K. Alexander
通讯作者：
P. Freeman;Matthew J. Jensen;J. Wagner;K. Alexander
强迫滑移法轻轨车辆车轮驱动效率分析
影响因子：
2.6
作者：
Zhongchao Liang;Haibo Gao;Liang Ding;Zongquan Deng;Jianjun Qu
通讯作者：
Jianjun Qu
DOI：
10.1109/tte.2016.2537046
发表时间：
2016-06-01
影响因子：
7
作者：
Hu, Chuan;Wang, Rongrong;Yan, Fengjun
通讯作者：
Yan, Fengjun
基于扰动观测器的控制及相关方法概述
影响因子：
7.7
作者：
Chen, Wen-Hua;Yang, Jun;Li, Shihua
通讯作者：
Li, Shihua
影响因子：
6.8
作者：
Choi, Mooryong;Choi, Seibum B.
通讯作者：
Choi, Seibum B.