四轮独立驱动电动汽车路径跟踪鲁棒控制

doi:10.19562/j.chinasae.qcgc.2023.02.010

Abstract

Abstract:

For the characteristics of four-wheel independent drive electric vehicles， such as structural parameters， external disturbance uncertainty， nonlinearity， and over-drive， a hierarchical control framework is proposed to realize the vehicle path tracking control with the coordination of front wheel steering and direct yaw torque control system. Firstly， based on the path tracking kinematics model， the vehicle path tracking problem is transformed into a constrained following problem. Secondly， an adaptive robust upper-layer control algorithm based on constrained following is designed， which can effectively deal with the mismatch problem caused by model uncertainty and external disturbances， and guarantee the consistent boundedness and consistent ultimate boundedness of the closed-loop system. Finally， a quadratic programming-based lower-level allocation algorithm is designed to satisfy the required direct yaw moment. Co-simulation is conducted on the Simulink-Carsim platform. The simulation results of different working conditions show that the designed adaptive robust control algorithm has good path tracking accuracy and robustness.

Key words: autonomous vehicle, vehicle lateral dynamics, path following control, direct yaw moment control, robust control

Xinrong Zhang,Yuhang Tan,Yifan Jia,Jin Huang,Quanning Xu. Robust Control of Path Tracking for Four-Wheel Independent Drive Electric Vehicles[J].Automotive Engineering, 2023, 45(2): 253-262.

Figures/Tables 10

变量	数值	变量	数值
m	1 410 kg	t	1.675 m
L	2.91 m	h	0.54 m
$l f$	1.015 m	$C f$	110 000 N/rad
$l r$	1.895 m	$C r$	110 000 N/rad
I_z	1 536.7 kg·m²	$r w$	0.325 m

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指标	控制器1	控制器2
横向误差均方根	0.023 4	0.043 3
横向误差最大值	0.079 9	0.141 4
横摆角误差均方根	0.004 4	0.016 3
横摆角误差最大值	0.019 0	0.062 4

指标	控制器1	控制器2
横向误差均方根	0.031 1	0.037 7
横向误差最大值	0.056 4	0.085 0
横摆角误差均方根	0.008 7	0.012 3
横摆角误差最大值	0.017 2	0.023 5

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Robust Control of Path Tracking for Four-Wheel Independent Drive Electric Vehicles

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