在急转的道路上使用分布式电动汽车进行强有力的协调控制
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
概括
这项研究引入了分布式电动汽车 (DEV) 的协作游戏稳定协调控制器 (CGRCC),以改善在急转上的路径跟踪和稳定性. 通过优化四轮方向盘和四轮独立驱动系统,CGRCC有效地减少了错误.
科学领域:
- 汽车工程
- 控制系统
- 机器人技术
背景情况:
- 分布式电动汽车 (DEV) 使用四轮方向盘 (4WS) 和四轮独立驱动 (4WID) 来增强路径跟踪和稳定性.
- 尖的转加剧了轮胎的非线性和合效应,使动态建模和控制变得复杂.
- 时间变化的控制目标和干扰挑战了精确的路径跟踪和横向稳定性.
研究的目的:
- 为DEV开发一个强大的协调控制器,以应对动态建模和控制冲突的挑战.
- 提高路径跟踪精度和横向稳定性,特别是在急转等苛刻的驾驶条件下.
- 通过先进的控制策略减轻干扰对系统性能的影响.
主要方法:
- 一个基于Takagi-Sugeno (T-S) 模糊逻辑的车辆-道路离散误差模型被建立起来以捕捉轮胎非线性和合效应.
- 设计了一个合作游戏协调控制器,优化了4WS和4WID之间的交互,以实现多驱动器协作.
- 一个基于Lyapunov的模糊的H∞干扰抑制器被实施以抵消外部干扰.
主要成果:
- 与其他控制器相比,拟用的协作猎物稳定协调控制器 (CGRCC) 显著降低了路径跟踪误差 (33.360.3%) 和横向速度误差 (15.524.6%).
- 控制者有效地管理了4WS和4WID之间的控制目标冲突.
- 实现了单个轮胎的精确动态建模和增强DEV建模精度.
结论:
- 对于分布式电动汽车在急转的道路上,CGRCC在路径跟踪精度和横向稳定性方面提供了卓越的性能.
- 模糊的TS模型和合作游戏方法有效地处理复杂的车辆动态和控制冲突.
- 基于 Lyapunov 的模糊 H∞ 干扰抑制器增强了对时间变化的干扰的系统稳定性.
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