配線された電気自動車の強力な協調制御
Wei Li1, Chunyan Wang1, Wanzhong Zhao1
1Department of Vehicle Engineering and Jiangsu Engineering Research Center of Vehicle Distributed Drive and Intelligent Wire Control Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210001, China.
ISA transactions
|August 26, 2025
まとめ
この研究では,急な曲がり角のコース追跡と安定性を向上させるため,分散型電気自動車 (DEV) のための協同ゲーム・ロバスト・コーディネーション・コントローラ (CGRCC) が導入されます. CGRCCは,四輪ステアリングと四輪独立駆動システムを最適化することで,エラーを効果的に削減します.
科学分野:
- 自動車工学
- 制御システム
- ロボット
背景:
- 分散型電気自動車 (DEV) は,四輪ステアリング (4WS) と四輪独立駆動 (4WID) を利用して,路線と安定性を向上させる.
- 鋭いターンはタイヤの非線形性とカップリング効果を悪化させ,ダイナミックなモデリングと制御を複雑にする.
- 制御の目標と時差などの障害は,正確な経路と横方向の安定性を困難にします.
研究 の 目的:
- ダイナミックモデリングと制御の対立の問題に対処するDEVのための堅固な調整コントローラを開発する.
- 特に急曲がるような厳しい運転条件下では,経路の追跡精度と横方向の安定性を向上させる.
- システムの性能に対する障害の影響を,高度な制御戦略によって軽減する.
主な方法:
- タカギ・スゲーノ (T-S) 模糊ロジックに基づく車両・道路分離エラーモデルは,タイヤの非線形性とカップリング効果を捉えるために確立されました.
- 4WSと4WIDの相互作用を最適化し,マルチアクチュエータのコラボレーションのために協力的なゲーム調整コントローラが設計されました.
- 外部からの干渉に対抗するために,フジのリアプノフベースのH∞干渉抑制器が実装されました.
主要な成果:
- 提案された協同型狩猟協調コントローラ (CGRCC) は,他のコントローラと比較して経路追跡誤差 (33.360.3%) と横方向速度誤差 (15.524.6%) を大幅に減少させました.
- 管理者は4WSと4WIDの制御目的の衝突を効果的に管理しました.
- 個々のタイヤの正確なダイナミックモデリングと DEVモデリングの精度が向上しました.
結論:
- CGRCCは,急に曲がる道路での分散型電気自動車のコース追跡精度と横方向の安定性において優れた性能を提供します.
- T-Sの曖昧なモデルと協力的なゲームアプローチは,複雑な車両のダイナミクスと制御の衝突を効果的に処理します.
- フージなリアプノフベースのH∞ 干渉抑制器は,時間変動の干渉に対するシステムの強さを高めます.
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