控制理论(社会学)
方案(数学)
扭矩转向
跟踪(教育)
控制(管理)
理论(学习稳定性)
路径(计算)
计算机科学
控制工程
电子稳定控制
汽车工程
方向盘
工程类
数学
心理学
人工智能
数学分析
教育学
机器学习
程序设计语言
作者
Xianguang Gu,Jinghan He,Ping Jiang
标识
DOI:10.1177/09544070241240214
摘要
To simultaneously improve the path tracking accuracy and yaw stability performance for four-wheel steering (4WS) and distributed drive autonomous electric vehicles under different working conditions, a coordinated control scheme is proposed. Firstly, a model error estimator based on Levenberg-Marquardt back propagation (LM-BP) neural network is designed to compensate the vehicle model errors in model predictive control (MPC) caused by model parameterization, simplification, and tire nonlinear characteristics. Secondly, a path tracking controller based on MPC is designed to calculate front-wheel steering angle and rear-wheel steering angle simultaneously. Then, fuzzy sliding mode control (FSMC) is applied to yaw stability control, and the torque distribution is performed according to the load ratio of the front and rear axles. Moreover, the vehicle stability state is divided into multiple levels based on tire force method, and the intervention weight of the yaw stability controller is adjusted according to the stability level, so as to achieve the coordinated control. Finally, the effectiveness of the coordinated control scheme is verified by CarSim&Simulink co-simulation and hardware-in-the-loop (HIL) test. The simulation results illustrate that under the condition of high speed with high road adhesion coefficient and medium-high speed with low road adhesion coefficient, the lateral deviation, sideslip angle, yaw rate are decreased by 24.49%, 81.69%, 74.52% and 32.75%, 55.97%, 65.49% respectively, indicating that the proposed control scheme can effectively improve the vehicle path tracking accuracy while ensure the yaw stability performance.
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