TY - JOUR
T1 - 基于后轮转角综合约束策略的 4WIS 车辆控制方法
AU - Zhang, Jun
AU - Ma, Boxuan
AU - Zhang, Xian
AU - Zhang, Kun
N1 - Publisher Copyright:
© 2023 Beijing Institute of Technology. All rights reserved.
PY - 2023/9
Y1 - 2023/9
N2 - In order to improve the tracking accuracy and operational stability of four-wheel independent steering (4WIS) vehicle, a comprehensive restraint strategy for rear wheel angle was proposed based on yaw velocity, centroid side angle and sideslip analysis. According to this strategy, the longitudinal preview speed controller and the transverse MPC controller were adopted, and the longitudinal speed PID control was embedded to complete the decoupling of transverse and longitudinal motion. Combined with torque distribution controller, 4WIS comprehensive control method was formed. Carsim and Matlab/Simulink were used to establish a co-simulation model. Taking the front wheel steering and 4WIS general control methods as the comparison control, some simulation experiments were carried out under U-bend turning condition and high-speed lane changing condition. The simulation results verify the effectiveness and reliability of the rear wheel Angle comprehensive restraint strategy. The 4WIS comprehensive control method can improve the flexibility and stability of the vehicle, and provide higher trajectory tracking accuracy.
AB - In order to improve the tracking accuracy and operational stability of four-wheel independent steering (4WIS) vehicle, a comprehensive restraint strategy for rear wheel angle was proposed based on yaw velocity, centroid side angle and sideslip analysis. According to this strategy, the longitudinal preview speed controller and the transverse MPC controller were adopted, and the longitudinal speed PID control was embedded to complete the decoupling of transverse and longitudinal motion. Combined with torque distribution controller, 4WIS comprehensive control method was formed. Carsim and Matlab/Simulink were used to establish a co-simulation model. Taking the front wheel steering and 4WIS general control methods as the comparison control, some simulation experiments were carried out under U-bend turning condition and high-speed lane changing condition. The simulation results verify the effectiveness and reliability of the rear wheel Angle comprehensive restraint strategy. The 4WIS comprehensive control method can improve the flexibility and stability of the vehicle, and provide higher trajectory tracking accuracy.
KW - four wheels independent steering （4WIS）
KW - model predictive control
KW - rear wheel angle constraint strategy
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85171874705&partnerID=8YFLogxK
U2 - 10.15918/j.tbit1001-0645.2022.246
DO - 10.15918/j.tbit1001-0645.2022.246
M3 - 文章
AN - SCOPUS:85171874705
SN - 1001-0645
VL - 43
SP - 926
EP - 932
JO - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
JF - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
IS - 9
ER -