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首页> 外文期刊>SAE International Journal of Vehicle Dynamics, Stability, and NVH >Robust Control of a Four-Wheel-Independent-Steering Electric Vehicle for Path Tracking
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Robust Control of a Four-Wheel-Independent-Steering Electric Vehicle for Path Tracking

机译：鲁棒控制的Four-Wheel-Independent-Steering电动汽车路径跟踪

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摘要

Compared with the traditional front-wheel-steering (FWS) vehicles, four-wheel-independent-steering (4WIS) vehicles have better handing stability and path-tracking performance. In view of this, a novel 4WIS electric vehicle (EV) with steer-by-wire (SBW) system is proposed in this paper. As to the 4WIS EV, a linear quadratic regulator (LQR) optimal controller is designed to make the vehicle track the target path based on the linear dynamic model. Taking the effect of uncertainties in vehicle parameters into consideration, a robust controller utilizing μ synthesis approach is designed and the controller order reduction is implemented based on Hankel-Norm approximation. In order to evaluate the performance of the designed controllers, numerical simulations of two maneuvers are carried out using the nonlinear vehicle model with 9 degrees of freedom (DOF) in MATLAB/Simulink. Simulation results show that the robust controller is superior to the LQR optimal controller in tracking accuracy in terms of the nominal vehicle model. Furthermore, the robust controller can make the vehicle track the target path well under the circumstances of different vehicle velocities and road friction coefficients, which indicates the robust controller has strong robust stability and good robust performance against parametric perturbations.
机译：与传统front-wheel-steering相比(FWS)车辆、four-wheel-independent-steering(4威斯康星州)车辆有更好的稳定性和轨迹跟踪性能。小说4威斯康星州电动汽车(EV)steer-by-wire(南偏西)系统提出了纸。监管机构等)最优控制器设计使车辆跟踪目标路径的基础上线性动态模型。汽车参数的不确定性考虑,一个鲁棒控制器利用μ合成方法设计控制器订单减少的基础上实现Hankel-Norm近似。所设计的控制器的性能,数值模拟的两个动作进行了使用非线性车辆模型9自由度(自由度)MATLAB / Simulink仿真。鲁棒控制器优于等最优控制器的跟踪精度名义上的车辆模型。控制器可以使车辆跟踪目标在这种情况下的不同的道路车辆速度和道路摩擦系数,这表明鲁棒控制器具有较强的鲁棒稳定性和良好的强劲的性能与参数扰动。

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