CN106502091B - A kind of optimizing distribution method of Study on Vehicle Dynamic Control - Google Patents
A kind of optimizing distribution method of Study on Vehicle Dynamic Control Download PDFInfo
- Publication number
- CN106502091B CN106502091B CN201610907900.3A CN201610907900A CN106502091B CN 106502091 B CN106502091 B CN 106502091B CN 201610907900 A CN201610907900 A CN 201610907900A CN 106502091 B CN106502091 B CN 106502091B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- control
- dynamics
- study
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of optimizing distribution methods of Study on Vehicle Dynamic Control.Purpose is the control assignment problem for solving to have constraint redundant drive dynamics of vehicle.The control method determines dynamics of vehicle virtual controlling amount based on Sliding mode control method, the dynamics of vehicle virtual controlling amount of upper controller decision and the optimization relations of distribution of wheel slip and side drift angle are established based on quadratic programming, combine tracking control unit based on integral sliding mode control designing tyre slip rate and side drift angle, the steering of coordinated control automobile/driving/braking system guarantees each wheel slip rate as expected and lateral deviation angular movement.The present invention mainly combines quadratic programming control distribution method with redundant drive vehicle dynamics system, considers the Non-linear coupling constraint of tyre side longitudinal force, expands the stable region of Vehicular system, improve the safety of running car.
Description
Technical field
The present invention relates to field of automotive active safety, in particular to a kind of optimizing distribution method of Study on Vehicle Dynamic Control.
Background technique
Recently as the fast development of automotive engineering and auto manufacturing, car owning amount is quicklyd increase, traffic condition
Become more intricate, traffic accident takes place frequently.It is reported that 2014 year traffic accident of China, the ten thousand vehicle death rate is 2.0 or so, far
Higher than developed countries such as the U.S., Germany, Japan, toll on traffic accounts for the dead sum of all kinds of industrial accidents in the whole nation
More than most probably, the situation is tense for traffic safety.Vehicle danger that may be present can be predicted and be solved to dynamics of vehicle coordinated control,
Stability and controllability of the vehicle under dangerous working condition are improved, the safety of running car is increased.
With the continuous development of automobile actuator and sensor technology, line control system will replace with hydraulic, air pressure and machinery
Based on traditional control system.It then includes steering motor, four of braking system that dynamics of vehicle, which studies controllable actuator,
Wheel drag etc., and yaw velocity and side slip angle are generally by control physical quantity, actuator quantity is significantly more than quilt
Control physical quantity, belong to redundant actuation system, necessarily refer to how by dynamics of vehicle virtual controlling amount in actuator physical constraint
Under the conditions of (position constraint and rate constraint) the problem of distributing to each actuator.Control distribution is that connection dynamics of vehicle is virtually controlled
The bridge and tie of amount and redundancy actuator processed, it can coordinate and optimize effective actuator resource, improve system response, expand
Stable region of the system under bad working environments or when certain Actuators Failures improves the stability and reliability of system.Currently, in vehicle
It in terms of dynamics Controlling, has been formed and has been constrained comprising each actuator, and considered the control distribution skill of tyre side longitudinal force coupling
Art.But the Non-linear coupling due to needing to consider tyre side longitudinal force constrains, and control system heavy computational burden, real-time are poor,
And tire force is difficult directly to measure acquisition in systems in practice.The present invention is quasi- to be directed to redundant drive vehicle dynamics system, is based on
Quadratic programming establishes the optimization relations of distribution of dynamics of vehicle virtual controlling amount Yu wheel slip and side drift angle, solves tire
The Non-linear coupling of side longitudinal force constrains, and coordinates each executing agency and realizes Study on Vehicle Dynamic Control target in the best way.
Summary of the invention
The invention aims to provide a kind of optimizing distribution method of Study on Vehicle Dynamic Control, built by quadratic programming
The optimization relations of distribution of vertical dynamics of vehicle virtual controlling amount and wheel slip and side drift angle, fully consider tyre side longitudinal force
Non-linear coupling constraint, improve the safety of running car.
To achieve the goals above, technical solution of the present invention.
A kind of optimizing distribution method of Study on Vehicle Dynamic Control, includes the following steps:
I, Study on Vehicle Dynamic Control distributes top level control module design:
Based on Three Degree Of Freedom auto model, ideal automobile mass center longitudinal velocity, side velocity and yaw velocity are determined；
For the uncertain of Unmarried pregnancy, external interference existing for system and system parameter (such as car mass, rotary inertia)
Property, the virtual controlling amount of dynamics of vehicle is gone out using Sliding mode control method decision；
Ii, the Study on Vehicle Dynamic Control distribution module design based on quadratic programming:
For redundant drive vehicle dynamics system, under redundancy actuator constraint condition, found based on quadratic programming
One optimum control allocation vector distributes to the virtual controlling amount optimization of Study on Vehicle Dynamic Control distribution top level control module decision
Wheel slip and side drift angle make vehicle control the lower suffered resultant force/torque of allocation vector effect herein and approach desired value；
Iii, wheel slip and side drift angle combine tracing control module design:
Wire-controlled steering system and wheel straight skidding rate kinetic model are established, vehicle is designed based on integral sliding mode control method
Wheel slip rate and side drift angle combine tracing control module, coordinate motor turning/driving/braking system, make each wheel according to pre-
The slip rate of phase and lateral deviation angular movement guarantee that the actual motion state of automobile can follow desired motion state.
Compared with prior art, beneficial effects of the present invention:
The present invention is based on quadratic programmings to establish the excellent of dynamics of vehicle virtual controlling amount and wheel slip and side drift angle
Change the relations of distribution, fully considers the Non-linear coupling constraint of tyre side longitudinal force, improve the safety of running car.
Detailed description of the invention
Fig. 1 is a kind of General layout Plan block diagram of the optimizing distribution method of Study on Vehicle Dynamic Control of the present invention.
Fig. 2 is a kind of steering-by-wire execution module schematic diagram of the optimizing distribution method of Study on Vehicle Dynamic Control of the present invention.
Fig. 3 is a kind of wheel braking model schematic of the optimizing distribution method of Study on Vehicle Dynamic Control of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.
As shown in fig.1, a kind of optimizing distribution method of Study on Vehicle Dynamic Control, when specific implementation, includes the following steps:
I, Study on Vehicle Dynamic Control distributes top level control module design:
The control input of driver is realized by steering wheel, acceleration/brake pedal, inputs to Three Degree Of Freedom auto model
It determines state of motion of vehicle parameter ideal value, determines ideal automobile mass center longitudinal velocity, side velocity and yaw velocity；Vehicle
Dynamics Controlling distribution top level control module is according to the deviation of state of motion of vehicle parameter ideal value and actual value, using robust
Sliding-mode control decision goes out the virtual controlling amount of dynamics of vehicle, i.e. total longitudinal force, the lateral force of operator demand, Yi Jibao
Hold yaw moment required for vehicle stabilization travels；
Ii, the Study on Vehicle Dynamic Control distribution module design based on quadratic programming:
Study on Vehicle Dynamic Control assignment problem description are as follows: to dynamics of vehicle virtual controlling amount, constrained in redundancy actuator
Under the conditions of, an optimal control allocation vector is found, vehicle is made to control the lower suffered resultant force/torque of allocation vector effect herein
Approach desired value；When Study on Vehicle Dynamic Control is distributed, the virtual controlling amount of dynamics of vehicle be longitudinal force total at vehicle centroid,
Yaw moment required for lateral force and holding vehicle stabilization travel, the output of actuator are the slip rate and front-wheel of four wheels
Side drift angle；
For given pseudo- control instruction, find the practical control to each executing agency and export,
I.e.
(1)
In formula,, respectively longitudinal force total at vehicle centroid, lateral force and keep vehicle
Stablize yaw moment required for travelling；, whereinRespectively
The near front wheel, off-front wheel, left rear wheel and off hind wheel slip rate,αFor front-wheel side drift angle；BEfficiency matrix is represented,；
When Study on Vehicle Dynamic Control is distributed, dynamics of vehicle virtual controlling amount shows as vehicle slip rate, side drift angle and road
The nonlinearities in parameters function such as face attachment coefficient；It is small by taking longitudinal force of tire and slip rate relation curve in automobile theory as an example
Slip rate area longitudinal force of tire is changed linearly with slip rate, and the nonlinear characteristic of height is showed both when slip rate is larger；
Therefore, when Study on Vehicle Dynamic Control is distributed, Ying Caiyong nonlinear Control method of completing the square；On the one hand Nonlinear Control Allocation method is drawn
Enter optimization aim, on the other hand consider various inequality constraints, effectively improves control assignment accuracy；
The control distribution the smallest allocation criteria of error is introduced, the control distribution of dynamics of vehicle virtual controlling amount can convert
For quadratic programming problem, optimization aim is
(2)
In formula,W v =diag(w v1 , w v2 , w v3 ) it is control task weight matrix；W u =diag(w u1 , w u2 , w u3 ) it is control
Export weight matrix；λ > 0 is the weight coefficient of optimization aim；
Iii, wheel slip and side drift angle combine tracing control module design:
The ideal value and reality of wheel slip and side drift angle joint tracing control module combination wheel slip, side drift angle
Value, coordinate motor turning/driving/braking system, export wheel steering angle, each wheel brake pressure, wheel drive torque to
CarSim auto model, make each wheel it is anticipated that slip rate and lateral deviation angular movement, CarSim auto model wheel is transported
The actual value of dynamic state parameter feeds back to Study on Vehicle Dynamic Control distribution top level control module, guarantees the actual motion state of automobile
Desired motion state can be followed；
Wherein, automobile steering-by-wire execution module is as shown in Fig. 2, enable,, steering-by-wire execution module
Kinetics equation it is as follows:
(3)
In formula,θ p For pinion gear corner；J p To turn to the equivalent rotary inertia on pinion shaft of execution module；C p To turn
To the equivalent damped coefficient on pinion shaft of execution module；τ p Resistance is turned between the equivalent wheel on pinion shaft and ground
Torque；g p For worm type of reduction gearing speed ratio；k p ,i p The respectively back EMF coefficient (torque coefficient) and armature of angle electrical machinery
Electric current.
When automobile acceleration or deceleration, the rotary motion of wheel by ground longitudinal force and acts on the driving/braking on wheel
Torque determines.By taking a certain wheel braking as an example, as shown in figure 3, enabling, then
(4)
In formula,For the longitudinal force of tire of magic formula expression；For vehicle wheel rotation inertia；
To act on the braking moment on wheel；For wheel center longitudinal velocity.
For Unmarried pregnancy existing for system and the uncertainty of system parameter, designed using integral sliding mode control method
Bottom controller, steering/driving/braking system of coordinated control automobile guarantee that each wheel tracks its desired slip rate and side
Drift angle.
Claims (1)
1. a kind of optimizing distribution method of Study on Vehicle Dynamic Control, which is characterized in that include the following steps
I, Study on Vehicle Dynamic Control distributes top level control module design
Based on Three Degree Of Freedom auto model, ideal automobile mass center longitudinal velocity, side velocity and yaw velocity are determined；For
The uncertainty of Unmarried pregnancy, external interference existing for system and car mass, rotary inertia is controlled using Sliding mode
Method decision goes out the virtual controlling amount of dynamics of vehicle:
Ii, the Study on Vehicle Dynamic Control distribution module design based on quadratic programming
For redundant drive vehicle dynamics system, under redundancy actuator constraint condition, one is found most based on quadratic programming
Excellent control allocation vector optimizes the dynamics of vehicle virtual controlling amount of Study on Vehicle Dynamic Control distribution top level control module decision
Wheel slip and side drift angle are distributed to, so that vehicle is controlled the lower suffered resultant force/torque of allocation vector effect herein and approaches expectation
Value
Tracing control module design is combined at iii, wheel slip and the side angle Times:
Wire-controlled steering system and wheel straight skidding rate kinetic model are established, it is sliding based on integral sliding mode control method design wheel
Shifting rate and side drift angle combine tracing control module, coordinate motor turning/driving/braking system, make each wheel it is anticipated that
Slip rate and lateral deviation angular movement guarantee that the actual motion state of automobile can follow desired motion state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610907900.3A CN106502091B (en) | 2016-10-19 | 2016-10-19 | A kind of optimizing distribution method of Study on Vehicle Dynamic Control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610907900.3A CN106502091B (en) | 2016-10-19 | 2016-10-19 | A kind of optimizing distribution method of Study on Vehicle Dynamic Control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106502091A CN106502091A (en) | 2017-03-15 |
| CN106502091B true CN106502091B (en) | 2019-06-07 |
Family
ID=58294696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610907900.3A Expired - Fee Related CN106502091B (en) | 2016-10-19 | 2016-10-19 | A kind of optimizing distribution method of Study on Vehicle Dynamic Control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106502091B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108333921B (en) * | 2017-09-27 | 2021-09-17 | 长春工业大学 | Automobile gear shifting rule optimization method based on dynamic programming algorithm |
| CN109670266B (en) * | 2018-12-29 | 2023-04-18 | 青岛慧拓智能机器有限公司 | Method for creating mining vehicle dynamics model |
| CN113060117B (en) * | 2019-12-13 | 2023-05-30 | 北京京邦达贸易有限公司 | Steering braking control method and device, medium and electronic equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1504369A (en) * | 2002-11-26 | 2004-06-16 | 丰田自动车株式会社 | Behavior control system for vehicle |
| JP2008062929A (en) * | 2007-09-25 | 2008-03-21 | Nissan Motor Co Ltd | Drive system controller for four-wheel drive vehicle |
| CN102030007A (en) * | 2010-11-26 | 2011-04-27 | 清华大学 | Method for acquiring overall dynamics controlled quantity of independently driven-independent steering vehicle |
| CN102218988A (en) * | 2010-04-16 | 2011-10-19 | 福特环球技术公司 | System and method for distributing propulsion in a vehicle |
| CN202548643U (en) * | 2012-03-09 | 2012-11-21 | 东风电子科技股份有限公司 | Automotive dynamics simulation test platform |
| CN103085816A (en) * | 2013-01-30 | 2013-05-08 | 同济大学 | Trajectory tracking control method and control device for driverless vehicle |
| CN104360604A (en) * | 2014-11-19 | 2015-02-18 | 清华大学 | Wheel speed simulating method and system used in automobile dynamics control simulation system |
| CN104765916A (en) * | 2015-03-31 | 2015-07-08 | 西南交通大学 | Dynamics performance parameter optimizing method of high-speed train |
| CN105416276A (en) * | 2015-12-14 | 2016-03-23 | 长春工业大学 | Method for controlling electric automobile stability direct yawing moment based on high-order slip mold |
| CN105607636A (en) * | 2016-01-21 | 2016-05-25 | 浙江工业大学 | Wheel mobile robot master-slave type formation control method based on integration sliding mode algorithm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7143864B2 (en) * | 2002-09-27 | 2006-12-05 | Ford Global Technologies, Llc. | Yaw control for an automotive vehicle using steering actuators |
-
2016
- 2016-10-19 CN CN201610907900.3A patent/CN106502091B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1504369A (en) * | 2002-11-26 | 2004-06-16 | 丰田自动车株式会社 | Behavior control system for vehicle |
| JP2008062929A (en) * | 2007-09-25 | 2008-03-21 | Nissan Motor Co Ltd | Drive system controller for four-wheel drive vehicle |
| CN102218988A (en) * | 2010-04-16 | 2011-10-19 | 福特环球技术公司 | System and method for distributing propulsion in a vehicle |
| CN102030007A (en) * | 2010-11-26 | 2011-04-27 | 清华大学 | Method for acquiring overall dynamics controlled quantity of independently driven-independent steering vehicle |
| CN202548643U (en) * | 2012-03-09 | 2012-11-21 | 东风电子科技股份有限公司 | Automotive dynamics simulation test platform |
| CN103085816A (en) * | 2013-01-30 | 2013-05-08 | 同济大学 | Trajectory tracking control method and control device for driverless vehicle |
| CN104360604A (en) * | 2014-11-19 | 2015-02-18 | 清华大学 | Wheel speed simulating method and system used in automobile dynamics control simulation system |
| CN104765916A (en) * | 2015-03-31 | 2015-07-08 | 西南交通大学 | Dynamics performance parameter optimizing method of high-speed train |
| CN105416276A (en) * | 2015-12-14 | 2016-03-23 | 长春工业大学 | Method for controlling electric automobile stability direct yawing moment based on high-order slip mold |
| CN105607636A (en) * | 2016-01-21 | 2016-05-25 | 浙江工业大学 | Wheel mobile robot master-slave type formation control method based on integration sliding mode algorithm |
Non-Patent Citations (6)
| Title |
|---|
| 分布式电驱动汽车稳定性控制策略设计与试验;杨鹏飞等;《机械工程学报》;20131231;第128-134,143页 |
| 四轮独立电动车驱动_转向_制动稳定性集成控制算法研究;刘经文;《中国优秀硕士学位论文全文数据库 工程科技II辑》;20120915;第C035-3页 |
| 基于控制分配的纯电动汽车驱动力_制动力容错控制研究;吕永健;《万方数据》;20160815;第C035-184页 |
| 控制分配理论在车辆动力学控制中的应用;余卓平等;《机械工程学报》;20140930;第99-107页 |
| 独立轮驱动电动汽车驱动力分配策略仿真研;王金湘等;《轻型汽车技术》;20141231;第3-7页 |
| 电动汽车稳定性的横摆力矩控制;张金柱等;《电机与控制学报》;20120630;第75-80页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106502091A (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111315640B (en) | Method and system for controlling lane keeping of a vehicle | |
| CN101005981B (en) | Control device for vehicle | |
| CN107521496B (en) | A kind of transverse and longitudinal coordination control track follow-up control method of vehicle | |
| CN106347361B (en) | A kind of redundant drive Study on Vehicle Dynamic Control distribution method | |
| CN101193785B (en) | Vehicle control device | |
| Zhang et al. | A novel steering system for a space-saving 4WS4WD electric vehicle: design, modeling, and road tests | |
| WO2014054432A1 (en) | Vehicle motion control device | |
| CN106502091B (en) | A kind of optimizing distribution method of Study on Vehicle Dynamic Control | |
| CN103237707A (en) | Vehicle motion control apparatus | |
| KR20120046638A (en) | Vehicle with multiple axis driven independently | |
| Bobier | A phase portrait approach to vehicle stabilization and envelope control | |
| CN112937545A (en) | Automatic driving automobile steering control system and method for coping with driver interference | |
| Xu et al. | Path following control of tractor with an electro-hydraulic coupling steering system: Layered multi-loop robust control architecture | |
| CN113050651A (en) | Time lag control method and system for tracking autonomous driving path of intelligent vehicle | |
| Karbalaei et al. | A new intelligent strategy to integrated control of AFS/DYC based on fuzzy logic | |
| Koh et al. | Integrated speed and steering control driver model for vehicle–driver closed-loop simulation | |
| Fu | Direct yaw moment control for electric vehicles with independent motors | |
| Li et al. | Spatial-based predictive control for vehicle collision avoidance by steering maneuvers | |
| CN116954083A (en) | Multi-agent theory-based automatic driving vehicle chassis distributed cooperative control method and controller | |
| CN109969165B (en) | Target-optimization-based torque distribution method considering tire lateral force contribution | |
| CN114044003B (en) | Tracking control method for front-rear double-axle steering vehicle | |
| CN113044047B (en) | AFS/DYC integrated control method based on class PID-STSM | |
| CN206552100U (en) | 8 × 8 offroad vehicle steering | |
| Feng et al. | Shared control between driver steering and differential drive assistance system considering driver’s characteristics | |
| CN117485325B (en) | Multi-axis distributed electric drive vehicle steering control method and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190607 Termination date: 20191019 |