摘要
针对分布式电驱动承载平台轨迹跟踪控制存在高速跟踪精度低、鲁棒性弱等问题,设计了基于期望前轮转角跟踪的分层式横向运动控制策略。以分布式电驱动承载平台为研究对象,基于各子系统的动力学分析和轮地作用关系分析,构建了完整的胶轮、车体、电驱等模块的一体化动力学模型。通过构建上层模型预测控制(MPC)轨迹跟踪和下层转向电机转角控制的分层式运动控制策略,可实现承载平台横向位置的高精度控制。基于Simulink搭建承载平台整体动力学仿真模型,仿真结果表明:设计的横向运动控制策略在多级速度下均能高精度实现多场景轨迹跟踪;与滑模控制器相比,其控制精度提升了33%,控制稳定性显著提升。
Aiming at the issues of low high-speed tracking accuracy and weak robustness in the trajectory tracking control of distributed electric drive bearing platforms,a hierarchical lateral motion control strategy based on desired front wheel angle tracking is designed.Taking the distributed electric drive bearing platform as the research object,a comprehensive dynamic model integrating rubber wheels,vehicle body,and electric drive modules is constructed based on the dynamic analysis of each subsystem and the interaction relationship between the wheels and the ground.By constructing a hierarchical motion control strategy with upper-level Model Predictive Control(MPC)trajectory tracking and lower-level steering motor angle control,high-precision control of the platform’s lateral position can be achieved.A holistic dynamic simulation model of the bearing platform is built using Simulink.The simulation results show that the lateral motion control strategy designed in this research can achieve multi-scenario trajectory tracking with high precision at various speeds.Compared with the sliding mode controller,the control accuracy of this strategy is improved by 33%,and the control stability is significantly enhanced.
作者
原野
陈龙
潘伟
李艺
秦兆博
Yuan Ye;Chen Long;Pan Wei;Li Yi;Qin Zhaobo(China Automotive Engineering Research Institute Co.,Ltd,Chongqing 401122;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082)
出处
《汽车技术》
北大核心
2025年第3期46-55,共10页
Automobile Technology
基金
国家重点研发计划项目(2022YFB2503301)
国家自然科学基金(52402470)
江苏省产业技术研究院集萃青年研究员项目。
关键词
分布式电驱动承载平台
动力学建模
模型预测控制
滑模控制
轨迹跟踪
Distributed electric drive bearing platform
Dynamic modeling
Model predictive control
Sliding mode control
Trajectory tracking
作者简介
通信作者:陈龙(2001-),男,硕士,研究方向为车辆动力学控制、路面附着系数估计,chenlong_autoe@hnu.edu.cn。
