滑移辅助转向下的四轮冗余电驱动车辆分层式力矩协同控制

项目名称： 滑移辅助转向下的四轮冗余电驱动车辆分层式力矩协同控制

项目编号： No.51305259

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 吴晓东

作者单位： 上海交通大学

项目金额： 25万元

中文摘要： 多轮独立电驱动车辆具有结构布置灵活、传动效率高的优势,但通常面临在复杂工况的非线性扰动下，如何实现有效的冗余力矩分配与转弯差速问题。针对轮毂电机独立驱动在车辆运动控制方面的优势，本课题首次提出传统转向机构结合轮式滑移的多样转向模式,对四轮独立电驱动车辆的转矩协同控制所涉及的关键技术开展研究。针对以往基于解析模型控制所存在的问题，拟引入分层式设计的电机转矩分配控制系统。首先基于上层参考运动模型与驾驶员输入获得转向动力学控制目标, 通过中层的智能模糊逻辑控制器进行横摆力矩的计算, 最后以多目标驱动力优化分配为底层控制器, 实现电动车辆的四轮驱动力矩全局协同规划。其中滑移辅助转向参考模型采用非完整约束系统理论，基于几何瞬心法建立关系模型。同时利用电驱动系统的易观测性，通过对行驶中的电动化参数进行实时动态提取，设计基于电机模型的车辆状态预估与观测方法。

中文关键词： 多轮驱动；差速控制；转向动力学；状态观测器；防滑控制

英文摘要： Multi-wheel independent drive electric vehicles have the advantages in flexible structural arrangement and high transmission efficiency. However, while facing with the complex road conditions with nonlinear perturbation, how to achieve effective redundancy torque distribution and differential control during the steering are difficult problems. By using advantages of the in-wheel-motor system which has dual characteristics of the driving and actuating mechanism, this project proposed a skid-assisted steering mode firsly, and take the torque coordination control of four-wheel independent driving electric vehicle as the object of study. Based on the problems in the controller by analytical model, a hierarchical control system is designed for the torque distribution in motors. In the top layer, from the driver command and reference model we can get the control objective. The yaw-moment control is calculated by fuzzy-logic controller in the middle layer. Multi-objective optimization of torque distribution is worked as the low-level controller. Finally, the global collaborative planning of the four independent driving wheels can be realized. By using the theory of nonholonomic constraint system, the reference model of skid-assisted steering and its geometric relationship is investigated. Since the motors are easy to t

英文关键词： Multi-wheel driving；Differential control；Steering dynamic；State observer；Anti-slip control