摘要
提出了一种四轮转向横向控制和制动力纵向联合控制(4WS-DYC)的控制策略。建立了二自由度车辆动力学模型,计算稳态时车辆的质心侧偏角和横摆角速度;基于最优控制理论建立了四轮转向LQR控制器和分层制动力纵向控制器;最后验证了双移线工况下控制策略的效果。结果表明:4WS-DYC控制策略有效,相比Car-Sim自带模型,低速时质心侧偏角降低了65%,高速时横摆角速度下降了34%。
A control strategy of joint lateral control of four-wheel steering and longitudinal control of the braking force(4WS-DYC)was proposed.A two-degree-of-freedom vehicle dynamics model was estab-lished to calculate the centroid deflection angle and yaw angular velocity of the vehicle at a steady state.Based on the optimal control theory,a linear quadratic regulator(LQR)controller of four-wheel steering and a longitudinal controller of hierarchical braking force were established.Finally,the effect of the control strategy under the condition of double line shift was verified.The experimental results show that the 4WS-DYC control strategy is effective.Compared with the CarSim model,the centroid deflection angle is reduced by 65%at low speed,and the yaw angular velocity is reduced by 34%at high speed.
作者
寇宝成
刘成武
Kou Baocheng;Liu Chengwu(School of Automotive Engineering,Hubei University of Automotive Technology,Shiyan 442002,China)
出处
《湖北汽车工业学院学报》
2024年第1期13-17,共5页
Journal of Hubei University Of Automotive Technology
基金
汽车零部件技术湖北省协同创新项目(2015XTZX04)。
关键词
四轮转向
LQR控制
制动力纵向控制
联合控制
four-wheel steering
LQR control
longitudinal control of braking force
joint control
作者简介
第一作者:寇宝成(1996-),男,硕士生,从事汽车动力学控制及仿真方面的研究。E-mail:1427840756@qq.com;通信作者:刘成武(1975-),男,高级实验师,从事汽车电控系统开发、汽车试验、汽车检测技术方面的研究。E-mail:346936660@qq.com。
