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基于LQR变传动比控制的4WIS电动车转向控制仿真研究 预览 被引量:5

A Simulation Study on the Steering Control of a 4WIS EV Based on LQR Variable Transmission Ratio Control
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摘要 理想转向特性对改善车辆操纵稳定性有重要意义。本文中基于LQR最优控制理论,提出了一种新型后轮主动转向变传动比控制策略。首先,综合考虑低速操纵响应性与高速行驶稳定性,建立4WIS电动车理想转向特性;接着根据变传动比曲线设计预期的横摆角速度,并基于LQR最优控制理论提出了主动后轮转向控制策略,以跟踪横摆角速度的预期值;最后,针对典型的双移线工况,进行人车路闭环控制仿真,结果表明,所提出的控制策略较好地实现了理想转向特性。 Ideal steering characteristics have important significance to the improvement of handling and stability of vehicle. In this paper,a novel variable transmission-ratio control strategy for rear-wheel active steering is proposed based on LQR optimal control theory. Firstly with concurrent considerations of low-speed handling responsiveness and high-speed driving stability,the ideal steering characteristics of a 4WIS electric vehicle are established. Then,the expected yaw rate is designed according to variable transmission-ratio curve,and by applying LQR optimal control theory,an active rear-wheel steering control strategy is proposed,so as to trace the expected values of yaw rate. Finally,a simulation on human-vehicle-road closed loop control under typical double lane change condition is conducted. The results show that with the control strategy proposed,the ideal steering characteristics can be well implemented.
作者 董铸荣 张欣 胡松华 邱浩 Dong Zhurong1,2,Zhang Xin',Hu Songhua2 & Qiu Hao2(1. School of Mechanical ,Electronic and Control Engineering,Beijing Jiaotong University ,Beijing 100144;2. School of Automotive & Transportation Engineering ,Shenzhen Polytechnic ,Shenzhen 518055)
出处 《汽车工程》 EI CSCD 北大核心 2017年第1期79-85,共7页 Automotive Engineering
基金 广东省自然科学基金(2016A030313024) 深圳市重点实验室(ZDSYS20160229100057381) 深圳市基础研究项目(JCYJ20140718171525577)资助
关键词 4WIS电动车 转向控制 LQR 变传动比 闭环仿真 4WIS-EV steering control LQR variable transmission ratio closed loop control simulation
作者简介 通信作者:胡松华,博士,E-mail:husonghua@szpt.edu.cn.
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参考文献4

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