四轮独立电动车驱动/转向/制动稳定性集成控制算法研究
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摘要
四轮独立电动车驱动/转向/制动稳定性集成控制算法研究
随着传统能源的日益匮乏和环境的恶化，政府和汽车生产商开始致力于发展电动车以缓解交通运输对于能源和环境的压力。另一方面，消费者对于车辆各项性能的要求不断提升，传统汽车经历过一个多世纪的发展已经趋于完善，由于受到固有机械结构的局限，整车性能很难再有较大的提升。全线控四轮轮毂电机独立驱动、独立转向、独立制动电动车既符合车辆电动化的趋势，又由于相对于传统车辆具备更多的可控自由度，适于采用车辆底盘集成控制技术，一体化分配车辆驱动、转向、制动系统执行器动作，达到车辆性能的全局最优。因此，将四轮独立电动车与车辆底盘集成控制技术相结合具有较好的发展前景。本文在国家自然科学基金“线控汽车底盘控制方法与关键技术研究”（50775096）和国家自然科学基金青年基金“线控转向系统操纵杆及其双向控制方法研究”（51105165）的资助下，基于全线控四轮独立电动车，提出最大化车辆轮胎附着裕度的稳定性控制目标，设计集成控制算法结构，开发稳定性集成控制算法。
为了探究四轮独立电动车的动力学特点，并为稳定性集成控制算法提供仿真平台，本文建立了四轮独立电动车的动力学仿真模型。该模型能够反映车辆纵向、侧向、横摆运动之间的耦合关系，体现驱动电机、转向电机的动态响应特性，能够进行四轮独立电动车所特有的多运动模式仿真。之后，针对本文所研究的稳定性集成控制，对模型在高速、低附着等极限工况的仿真精度进行了验证。
本文设计的集成控制算法采用分层集中控制结构，既具备较高的算法集成度以使控制性能达到理论最优，又简化了车辆解耦控制的难度。算法结构分为两层，上层根据车辆运动控制目标，利用车辆逆动力学求出车体所需的总纵向力、总侧向力、总横摆力矩，实现驾驶意图；下层把四个车轮的转向角和驱动/制动力矩作为8个独立的控制变量，利用最优化控制方法并考虑优化利用轮胎附着能力提高车辆稳定性，从而把车体运动所需的总控制力转化为控制变量的具体值作为集成控制器的输出。
在算法设计方面，上层采用线性化的三自由度车辆被控系统模型，构建了被控系统反馈镇定矩阵，基于模型预测控制理论设计多输入多输出系统多目标跟踪集中控制层算法。算法下层以最大化四个轮胎附着裕度为分配目标，考虑轮胎垂直载荷、路面附着条件对轮胎附着能力的限制，得到轮胎纵向力、侧向力的优化分配结果。轮胎纵向力由驱动、制动系统力控制直接实现，对于轮胎侧向力控制，本文建立了轮胎逆模型，通过控制车轮转角，获得对应轮胎侧偏角实现。
最后，本文通过三种极限工况的仿真，验证本文提出的四轮独立电动车稳定性集成控制结构和控制算法的有效性。验证结果表明，集成控制算法能够实现驾驶员的驾驶意图，保持车辆质心侧偏角为零，控制四个车轮的轮胎利用率相等，降低了最大轮胎利用率；通过与无稳定性集成控制的车辆对比，证明稳定性集成控制算法能够提高车辆行驶稳定性。
With the increasing scarcity of traditional energy sources and the growing pollution,government and car manufacturers are committed to the electric cars to alleviate thetransport pressure on energy and the environment. On the other hand, consumers requirevehicle performance to increase. However, conventional vehicles have developed for morethan a century and the performance is relatively difficult to increase furthermore because ofthe limitation of mechanical structures. Full-wire four wheel-motor independent drive,independent steering, independent braking electric vehicle complies with the trend of vehicleelectrification. And it has more controllable degrees of freedom. Therefore, it is suitable toadopt vehicle chassis integrated control technology to allocate driving, steering and brakingsystem actuator actions to achieve the global optimum of vehicle performance. Therefore,four wheel independent electric vehicles equipped with integrated chassis control technologyhave good development prospects. In this thesis which is supported by National NaturalScience Foundation of China(50775096) and National Science Foundation for DistinguishedYoung Scholars of China（51105165）, based on full-wire four-wheel-independent electricvehicles, integrated control algorithm structure is designed, the stability control objective isproposed to maximize tire attachment margins, and stability integrated control algorithm isdeveloped.
To explore the dynamic characteristics of four-wheel-independent electric vehicle, andprovide the validation platform for stability integrated control algorithm, dynamic simulationmodel of four-wheel-independent electric vehicle is established. The model can reflect thecoupling among vehicle longitudinal, lateral, and yaw movement, and the dynamic response characteristics of driving motors and steering motors. Moreover, it can simulatemulti-moving modes which are unique to four-wheel-independent vehicles. Besides, for thesimulation of stability integrated control, the model is validated in harsh working conditionssuch as high speed and low adhesion conditions.
Integrated control algorithm designed in this thesis uses a hierarchical centralized controlstructure, which has high integration degree so that it can achieve the theoretical optimalcontrol performance, and also simplify vehicle decoupling control problem. The algorithmstructure is divided into two layers. The upper layer calculates the required total verticalforce, total lateral force and total yaw moment according to vehicle movement targets, byusing vehicle inverse dynamics. Therefore, the driving intention is realized. The lower layertakes four wheel steering angles and four wheel diving torques as eight independent controlvariables, and adopts optimal control methods to assign tire adhesions so that to enhancevehicle stability. At the same time, the total virtual control outputs are transformed intospecific control output values which are the control targets of vehicle actuators.
To design the algorithm, in the upper layer, three degrees of freedom vehicle model isadopted, system feedback stabilization matrix is constructed, and the multi-inputmulti-output system multi-target tracking algorithm is designed based on model predictivecontrol theory. In the lower layer of the algorithm, with consideration of the effect of tirevertical load and road adhesion condition, tire adhesion margins are taken as allocation targetto calculate tire longitudinal force and tire lateral force optimally. Tire longitudinal forces arerealized directly by driving system and braking system. However, to control tire lateralforces, tire inverse model is built in this thesis. Therefore, the steering system can control tirelateral forces by controlling steering angles to obtain corresponding tire slip angles.
Finally, the four-wheel-independent electric vehicle stability integrated control structure andthe algorithm is validated by simulation of three harsh working conditions. The results showthat the integrated control algorithm can achieve driver’s driving intentions, keep vehicle slipangle to be zero, and control the utilization of tire adhesions to be equal so that the maximumtire adhesion utilization is reduced. Vehicle with and without stability integrated control are compared, and it show that stability integrated control algorithm can improve vehiclestability.
随着传统能源的日益匮乏和环境的恶化，政府和汽车生产商开始致力于发展电动车以缓解交通运输对于能源和环境的压力。另一方面，消费者对于车辆各项性能的要求不断提升，传统汽车经历过一个多世纪的发展已经趋于完善，由于受到固有机械结构的局限，整车性能很难再有较大的提升。全线控四轮轮毂电机独立驱动、独立转向、独立制动电动车既符合车辆电动化的趋势，又由于相对于传统车辆具备更多的可控自由度，适于采用车辆底盘集成控制技术，一体化分配车辆驱动、转向、制动系统执行器动作，达到车辆性能的全局最优。因此，将四轮独立电动车与车辆底盘集成控制技术相结合具有较好的发展前景。本文在国家自然科学基金“线控汽车底盘控制方法与关键技术研究”（50775096）和国家自然科学基金青年基金“线控转向系统操纵杆及其双向控制方法研究”（51105165）的资助下，基于全线控四轮独立电动车，提出最大化车辆轮胎附着裕度的稳定性控制目标，设计集成控制算法结构，开发稳定性集成控制算法。
为了探究四轮独立电动车的动力学特点，并为稳定性集成控制算法提供仿真平台，本文建立了四轮独立电动车的动力学仿真模型。该模型能够反映车辆纵向、侧向、横摆运动之间的耦合关系，体现驱动电机、转向电机的动态响应特性，能够进行四轮独立电动车所特有的多运动模式仿真。之后，针对本文所研究的稳定性集成控制，对模型在高速、低附着等极限工况的仿真精度进行了验证。
本文设计的集成控制算法采用分层集中控制结构，既具备较高的算法集成度以使控制性能达到理论最优，又简化了车辆解耦控制的难度。算法结构分为两层，上层根据车辆运动控制目标，利用车辆逆动力学求出车体所需的总纵向力、总侧向力、总横摆力矩，实现驾驶意图；下层把四个车轮的转向角和驱动/制动力矩作为8个独立的控制变量，利用最优化控制方法并考虑优化利用轮胎附着能力提高车辆稳定性，从而把车体运动所需的总控制力转化为控制变量的具体值作为集成控制器的输出。
在算法设计方面，上层采用线性化的三自由度车辆被控系统模型，构建了被控系统反馈镇定矩阵，基于模型预测控制理论设计多输入多输出系统多目标跟踪集中控制层算法。算法下层以最大化四个轮胎附着裕度为分配目标，考虑轮胎垂直载荷、路面附着条件对轮胎附着能力的限制，得到轮胎纵向力、侧向力的优化分配结果。轮胎纵向力由驱动、制动系统力控制直接实现，对于轮胎侧向力控制，本文建立了轮胎逆模型，通过控制车轮转角，获得对应轮胎侧偏角实现。
最后，本文通过三种极限工况的仿真，验证本文提出的四轮独立电动车稳定性集成控制结构和控制算法的有效性。验证结果表明，集成控制算法能够实现驾驶员的驾驶意图，保持车辆质心侧偏角为零，控制四个车轮的轮胎利用率相等，降低了最大轮胎利用率；通过与无稳定性集成控制的车辆对比，证明稳定性集成控制算法能够提高车辆行驶稳定性。
With the increasing scarcity of traditional energy sources and the growing pollution,government and car manufacturers are committed to the electric cars to alleviate thetransport pressure on energy and the environment. On the other hand, consumers requirevehicle performance to increase. However, conventional vehicles have developed for morethan a century and the performance is relatively difficult to increase furthermore because ofthe limitation of mechanical structures. Full-wire four wheel-motor independent drive,independent steering, independent braking electric vehicle complies with the trend of vehicleelectrification. And it has more controllable degrees of freedom. Therefore, it is suitable toadopt vehicle chassis integrated control technology to allocate driving, steering and brakingsystem actuator actions to achieve the global optimum of vehicle performance. Therefore,four wheel independent electric vehicles equipped with integrated chassis control technologyhave good development prospects. In this thesis which is supported by National NaturalScience Foundation of China(50775096) and National Science Foundation for DistinguishedYoung Scholars of China（51105165）, based on full-wire four-wheel-independent electricvehicles, integrated control algorithm structure is designed, the stability control objective isproposed to maximize tire attachment margins, and stability integrated control algorithm isdeveloped.
To explore the dynamic characteristics of four-wheel-independent electric vehicle, andprovide the validation platform for stability integrated control algorithm, dynamic simulationmodel of four-wheel-independent electric vehicle is established. The model can reflect thecoupling among vehicle longitudinal, lateral, and yaw movement, and the dynamic response characteristics of driving motors and steering motors. Moreover, it can simulatemulti-moving modes which are unique to four-wheel-independent vehicles. Besides, for thesimulation of stability integrated control, the model is validated in harsh working conditionssuch as high speed and low adhesion conditions.
Integrated control algorithm designed in this thesis uses a hierarchical centralized controlstructure, which has high integration degree so that it can achieve the theoretical optimalcontrol performance, and also simplify vehicle decoupling control problem. The algorithmstructure is divided into two layers. The upper layer calculates the required total verticalforce, total lateral force and total yaw moment according to vehicle movement targets, byusing vehicle inverse dynamics. Therefore, the driving intention is realized. The lower layertakes four wheel steering angles and four wheel diving torques as eight independent controlvariables, and adopts optimal control methods to assign tire adhesions so that to enhancevehicle stability. At the same time, the total virtual control outputs are transformed intospecific control output values which are the control targets of vehicle actuators.
To design the algorithm, in the upper layer, three degrees of freedom vehicle model isadopted, system feedback stabilization matrix is constructed, and the multi-inputmulti-output system multi-target tracking algorithm is designed based on model predictivecontrol theory. In the lower layer of the algorithm, with consideration of the effect of tirevertical load and road adhesion condition, tire adhesion margins are taken as allocation targetto calculate tire longitudinal force and tire lateral force optimally. Tire longitudinal forces arerealized directly by driving system and braking system. However, to control tire lateralforces, tire inverse model is built in this thesis. Therefore, the steering system can control tirelateral forces by controlling steering angles to obtain corresponding tire slip angles.
Finally, the four-wheel-independent electric vehicle stability integrated control structure andthe algorithm is validated by simulation of three harsh working conditions. The results showthat the integrated control algorithm can achieve driver’s driving intentions, keep vehicle slipangle to be zero, and control the utilization of tire adhesions to be equal so that the maximumtire adhesion utilization is reduced. Vehicle with and without stability integrated control are compared, and it show that stability integrated control algorithm can improve vehiclestability.
引文
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