基于控制分配的车辆底盘协调控制关键技术研究

项目名称： 基于控制分配的车辆底盘协调控制关键技术研究

项目编号： No.51205058

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 王金湘

作者单位： 东南大学

项目金额： 25万元

中文摘要： 本研究项目针对以纵向和横向运动控制为目标的可前/后轮主动转向和四轮独立制动/驱动的车辆底盘过驱动控制问题，提出基于CA算法的模块化可重构协调控制方法。为满足对系统模型参数变化的鲁棒性，上层计算理想车身控制力/力矩的控制器用自适应MIMO滑模控制，然后采用CA算法将总控制力/力矩分配给各个轮胎力。根据车辆和执行器状态设计兼顾控制误差和实时性要求的CA求解算法，并基于车辆稳定性程度、轮胎非线性特性、执行器物理约束和失效程度，提出协调规则在线调整CA算法参数以提高控制系统性能并实现容错控制。将各控制模块在Matlab/Simulink软件中实现以建立控制系统数字仿真平台，并构建该底盘协调控制系统硬件在环仿真试验平台，通过仿真试验考察项目提出的控制策略和算法在典型操纵工况下的性能。本项目研究可解决底盘模块化分层协调控制中轮胎力优化分配的关键技术问题，且对过驱动系统容错控制算法的工程应用有重大意义

中文关键词： 车辆底盘控制；控制分配；协调控制；四轮独立驱动；

英文摘要： To solve the over-actuated vehicle chassis control problem with control objectives of longitudinal and lateral motion and with actuators including front/rear steering and four wheel independent drive/brake, a control allocation (CA) based modular reconfigurable coordination control approach is introduced in this proposal. To be robust to parameter variation of the system model, an adaptive Multi-input Multi-output (MIMO) sliding mode control algorithm is proposed to calculate the desired global control force/torque in the upper controller. Then a CA approach is introduced to allocate the global control forces to each tyre. The CA algorithm is designed taking account to both control error and real-time performance considering state of the vehicle and actuators. More over, based on the physical constraints, actuator faults, vehicle stability and nonlinear tyre force chareteristics, the coordination rules are proposed to adjust parameters of the CA algrithm on-line to improve performance of the control system and achieve fault-tolerant control. Each of the control modules is realised in Matlab/Simulink environment for numerical simulation of the control system, and a hardware-in-the-loop simulation platform for the proposed coordinated chassis control is also built to verify the control strategy and algorithm in t

英文关键词： vehicle chassis control；control allocation；coordination control；four-wheel independently driving；