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Universal Design of Four-Wheel Independent Steering System

四轮独立转向系统通用设计

基本信息

批准号：
16560209
负责人：
NISHIHARA Osamu
金额：
$ 1.98万
依托单位：
Graduate School of Informatics, Kyoto University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2005
项目状态：
已结题

项目摘要

A major study subject for the first fiscal year (2004) was a theoretical investigation on integrated control of steering and traction/braking force distribution of the four-wheel independent steering vehicle. We studied a cascade control system that consists of two levels. The upstream side is an ordinary controller for active steering vehicle. The steering angles and longitudinal tire forces are optimized at the downstream side in reference to the minimax criterion of the tire workload. We have confirmed that the problem is reduced to a convex optimization and solved efficiently with a combination of binary search and the golden section method. The numerical simulation was performed with the CarSim in the MATLAB/Simulink environment. In 2005, we concentrated on a real-time implementation of the tire force optimization, because the distributor must process a sequence of static optimization problems so that the system can synchronize with the rather simple feedback controller. It turned out that the original algorithm was not efficient enough for the Real-time Workshop that were available to us in the MATLAB/Simulink environment. Therefore, we developed an approximate algorithm that asymptotically converges to the exact solution. The new algorithm is faster enough for our CarSim-based driving simulator. Real-time simulations with experimental subjects including double lane changes were carried out and the results confirmed their contribution to the driveabilities.

第一个财政年度（2004年）的主要研究课题是四轮独立转向车辆转向与牵引力/制动力分配的综合控制理论研究。我们研究了一个由两个层次组成的串级控制系统。上游端是主动转向车辆的普通控制器。参照轮胎负荷的极大极小准则，在下游对转向角和纵向轮胎力进行优化。我们证实了该问题被简化为一个凸优化，并将二分搜索和黄金分割方法相结合有效地解决了该问题。在MATLAB/Simulink环境下，利用CarSim软件进行了数值模拟。2005年，我们专注于轮胎力优化的实时实现，因为分配器必须处理一系列静态优化问题，这样系统才能与相当简单的反馈控制器同步。事实证明，对于我们在MATLAB/Simulink环境中可用的实时研讨会，原始算法的效率不够高。因此，我们开发了一种近似算法，该算法渐近收敛于精确解。新算法对于我们基于carsim的驾驶模拟器来说足够快。采用双变道等实验对象进行了实时仿真，结果证实了它们对驾驶性能的贡献。