控制理论(社会学)
主动悬架
反推
工程类
非线性系统
偏航
平坦度(宇宙学)
控制工程
控制器(灌溉)
计算机科学
自适应控制
汽车工程
控制(管理)
执行机构
电气工程
物理
生物
人工智能
量子力学
宇宙学
农学
作者
Xu Han,You Qun Zhao,Wei Pi,Qiuwei Wang,Fanghua Lin,Chenxi Zhang
出处
期刊:IEEE Transactions on Vehicular Technology
[Institute of Electrical and Electronics Engineers]
日期:2022-05-01
卷期号:71 (5): 4813-4824
被引量:9
标识
DOI:10.1109/tvt.2022.3151252
摘要
Mechanical elastic wheel (MEW) has the advantage of explosion-proof, which helps to guarantee the safety and maneuverability of the automobile. Aiming to improve the stability of vehicles matching with MEW, this paper proposes an integrated control strategy that combines the active front steering and the active suspension systems. The integrated controller consists of feed-forward and feedback controllers. Firstly, the differential flatness system of the vehicle is constructed concerning the coupling among yaw, lateral, and roll motion. And the flatness based feed-forward control inputs of the desired front wheel angle and active roll moment are derived. At the same time, the backstepping-adaptive feedback controllers for yaw rate and roll angle are designed. Then, the feed-forward and feedback controllers are coordinated and their weight coefficients are adjusted according to the sideslip angle. Furthermore, this paper also adopts a nonlinear disturbance observer to estimate the vertical load of MEW. The influence of the vertical load is fully considered when estimating the equivalent cornering stiffness of each MEW, so as to realize the online adjustment of the controller parameters. Finally, the maneuver tests of step input steering and double lane change are simulated, respectively. The results show that the proposed control strategy yields a better control effect than the fuzzy-PID controller, and the performance of the vehicle matching with MEW has been significantly improved.
科研通智能强力驱动
Strongly Powered by AbleSci AI