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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part D. Journal of Automobile Engineering >An optimal traction, braking, and steering coordination strategy for stability and manoeuvrability of a six-wheel drive and six-wheel steer vehicle
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An optimal traction, braking, and steering coordination strategy for stability and manoeuvrability of a six-wheel drive and six-wheel steer vehicle

机译：针对六轮驱动和六轮转向车辆的稳定性和可操纵性的最佳牵引，制动和转向协调策略

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摘要

This paper describes an optimal traction, braking and steering coordination to improve vehicle lateral stability and manoeuvrability of a six-wheel driving/six-wheel steering (6WD/6WS) vehicle. The optimal coordination controller consists of an upper and lower level controller. The upper level controller determines front, middle steering angle, desired net yaw moment, and longitudinal net force according to the reference velocity and steering angle corresponding to a manual driver. The desired yaw moment is calculated by sliding-mode control theory. Based on the desired longitudinal net force, yaw moment, and tyre force information as inputs from the upper level controller, the lower level controller determines distributed lateral tyre forces and longitudinal tyre force on each wheel in proportion to the size of the friction circle of each wheel. The size of a friction circle is estimated using longitudinal/lateral velocity, yaw rate, wheel torque, and wheel angular velocity. Vehicle-driver-controller closed-loop simulations have been conducted to investigate the improved performance of the proposed optimal coordination controller over a conventional direct yaw moment controller (DYC) of the vehicle equipped with a mechanical drive system.
机译：本文介绍了一种最佳的牵引，制动和转向协调功能，以提高六轮驱动/六轮转向（6WD / 6WS）车辆的横向稳定性和机动性。最佳协调控制器由上，下层控制器组成。上位控制器根据对应于手动驾驶员的参考速度和转向角确定前，中转向角，期望的净偏航力矩和纵向净力。期望的横摆力矩通过滑模控制理论来计算。根据所需的纵向净力，偏航力矩和轮胎力信息作为上级控制器的输入，下级控制器确定每个车轮上的分布侧向轮胎力和纵向轮胎力，与每个车轮的摩擦圆的大小成比例轮。使用纵向/横向速度，偏航率，车轮扭矩和车轮角速度来估算摩擦圆的大小。已经进行了车辆-驾驶员-控制器的闭环仿真，以研究所提出的最佳协调控制器相对于配备有机械驱动系统的车辆的常规直接偏航力矩控制器（DYC）的改进性能。

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