CN107150680B - A kind of robust invariant set control method of anti-four motorized wheels electric vehicle oversteering - Google Patents
A kind of robust invariant set control method of anti-four motorized wheels electric vehicle oversteering Download PDFInfo
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- CN107150680B CN107150680B CN201710318997.9A CN201710318997A CN107150680B CN 107150680 B CN107150680 B CN 107150680B CN 201710318997 A CN201710318997 A CN 201710318997A CN 107150680 B CN107150680 B CN 107150680B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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Abstract
The invention discloses a kind of robust invariant set control methods of anti-four motorized wheels electric vehicle oversteering, and its step are as follows: determining the rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle lateral force saturationm；Convert rear axle tyre slip angle constraint control problem to the constraint control problem of vehicle centroid side drift angle β and yaw rate gamma expression:It takesTwo spaces will be divided by the space of ordinate of yaw-rate using vehicle centroid side drift angle as abscissa；When vehicle centroid side drift angle and yaw-rate are in space of the rear axle tyre slip angle without departing from binding occurrence, using the yaw-rate tracking and controlling method for guaranteeing closed-loop stabilization；When vehicle centroid side drift angle and yaw-rate motion profile and constraint equationWhen intersection, design robust invariant set controller is by vehicle centroid side drift angle and yaw-rate control in an invariant set of intersection point.The present invention realizes the constraint to mass center yaw-rate and side slip angle by robust invariant set control method, to reach the control target for preventing oversteering.
Description
Technical field
The invention belongs to electric car sideway stability control techniques fields, and being related to one kind prevents the electronic vapour of four motorized wheels
The control method of vehicle oversteering.
Background technique
Sideway stability contorting is used to improve the steering stability of vehicle.Conventional truck sideway stability contorting passes through additional brake
Torque makes vehicle generate yaw moment, and realization prevents vehicle understeer or oversteering, improves and turns to safety.Due to braking
The unsuitable long duration of action of torque, therefore conventional truck sideway stability contorting is only recognizing understeer or oversteering Shi Caijie
Enter.Four motorized wheels electric car tool the characteristics of there are four wheel drive torque is continuously adjustable and fast response time, pass through tune
The driving moment for saving four wheels can make vehicle generate yaw moment, realize sideway stability contorting function.Four motorized wheels electricity
The sideway stability contorting of electrical automobile is not limited by action time, and turning to can intervene when starting.This sideway stable control mode
Yaw response dynamic property when can not only prevent vehicle understeer or oversteering, but also can be improved Vehicular turn.
Currently, the emphasis of four motorized wheels electric vehicle sideway stability contorting is yaw-rate tracking control algorithm, i.e.,
Design closed loop feedback control rule makes actual yaw rate tracking expectation yaw-rate.Speed is higher, the biggish driving cycle of steering angle
Under, sideway tracing control will appear side slip angle and increase sharply, and vehicle is caused to generate oversteering, and it is existing vehicle unstability occur
As.During the reason of generating this phenomenon is yaw-rate tracing control, since expectation yaw-rate is larger, additional yaw moment
Rear-wheel lateral force is set to reach saturation.Despite the presence of a variety of different expectation yaw-rate design methods, try hard to avoid expectation yaw-rate
Larger generation oversteering phenomenon, but only rely on desired yaw-rate and prevent the mode of vehicle oversteering, on the one hand cause it is expected
Yaw-rate design is excessively difficult, and the variation of another aspect vehicle parameter also will affect desired yaw-rate value, therefore is difficult in practice
With realization.
Summary of the invention
Oversteering is effectively prevented in order to solve to lack in four motorized wheels electric car sideway stable control process
The problem of method, the present invention provides a kind of robust invariant set control method of anti-four motorized wheels electric vehicle oversteering,
This method realizes the constraint to mass center yaw-rate and side slip angle by robust invariant set control method, so that reaching prevented
Spend the control target turned to.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of robust invariant set control method of anti-four motorized wheels electric vehicle oversteering, includes the following steps:
One, the rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle lateral force saturation is determined by experimental datam。
Two, the control problem of anti-four motorized wheels electric vehicle oversteering the constraint control of rear axle side drift angle is converted to ask
Topic, it may be assumed that αr≤αm。
Three, convert what vehicle centroid side drift angle β and yaw rate gamma indicated for rear axle tyre slip angle constraint control problem
Constrain control problem, it may be assumed that
Four, it takesIt will be using vehicle centroid side drift angle β as abscissa, using yaw rate gamma as the sky of ordinate
Between be divided into two spaces: rear axle tyre slip angle exceed binding occurrence αm(αr> αm) space and rear axle tyre slip angle do not surpass
Binding occurrence α outm(αr< αm) space.
Five, when vehicle centroid side drift angle β and yaw rate gamma are in rear axle tyre slip angle without departing from binding occurrence αmSpace
When, using the yaw-rate tracking and controlling method for guaranteeing closed-loop stabilization；
Six, as vehicle centroid side drift angle β and yaw rate gamma motion profile and constraint equationWhen intersection, if
Robust invariant set controller is counted to control vehicle centroid side drift angle β and yaw rate gamma in an invariant set of intersection point.
The present invention has the advantage that
1, the present invention can solve yaw-rate tracing control mistake by constraint rear-wheel lateral force saturation as target is directly controlled
Oversteering problem caused by rear-wheel lateral force saturation in journey, to prevent four motorized wheels electric vehicle oversteering.
2, the present invention is in controller design, since the lateral force of wheel can be characterized by side drift angle, therefore will be to rear axle
The constraint of lateral force is converted into the constraint to rear axle side drift angle, and because rear axle side drift angle can by vehicle centroid yaw-rate and
Side slip angle indicates, therefore, it is possible to be then converted to according to the calculating formula of rear axle side drift angle to state variable (yaw-rate and mass center
Side drift angle) constraint, so that designing robust invariant set controller realizes constraint to mass center yaw-rate and side slip angle, in turn
Reach the control target for preventing oversteering.
Detailed description of the invention
Fig. 1 is the rear axle tyre slip angle binding occurrence α for determining anti-vehicle rear axle lateral force saturationmSchematic diagram；
Fig. 2 be the constraint equation that is indicated by vehicle centroid side drift angle and yaw-rate will with vehicle centroid side drift angle abscissa,
Two spaces schematic diagram is divided by the space of ordinate of yaw-rate；
Fig. 3 is the state trajectory and constraint equation of the system of formula (4) formula descriptionA1 point is intersected to show
It is intended to；
Fig. 4 is the flow chart of inventive algorithm.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawing, and however, it is not limited to this, all to this
Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered
Within the protection scope of the present invention.
The present invention provides a kind of robust invariant set control methods of anti-four motorized wheels electric vehicle oversteering, specifically
Implementation steps are as follows:
Step S1: the rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle lateral force saturation is determined by experimental datam。
As shown in Figure 1, rear axle lateral force and side drift angle are in non-linear relation, and have saturated characteristic.Determining αmIt is rear
Axis lateral force approaches rear axle tyre slip angle value when saturation.
Step S2: the constraint that vehicle centroid side drift angle and yaw-rate indicate is converted by rear axle tyre slip angle constraint equation
Equation.
Rear axle side drift angle constraint equation are as follows:
αr≤αm(1),
In formula, αrFor rear axle tyre slip angle.
Rear axle tyre slip angle αrWith the relationship of side slip angle β and mass center yaw rate gamma are as follows:
In formula, lrFor mass center to the distance of rear axle wheel；vxFor mass center longitudinal direction speed.
It obtains converting vehicle centroid side drift angle and yaw-rate for the constraint equation of rear axle side drift angle by formula (1) and (2)
The constraint equation of expression:
Step S3: it takesIt will be using vehicle centroid side drift angle as abscissa, using yaw-rate as the sky of ordinate
Between be divided into two spaces: rear axle tyre slip angle exceed binding occurrence αm(αr> αm) space and rear axle tyre slip angle do not surpass
Binding occurrence α outm(αr< αm) space, as shown in Figure 2.
Step S4: when vehicle centroid side drift angle and yaw-rate are in rear axle tyre slip angle without departing from binding occurrence αmSpace
When, using the yaw-rate tracking and controlling method for guaranteeing closed-loop stabilization, the specific steps are as follows:
(1) using side slip angle β and mass center yaw rate gamma as state variable, x=(beta, gamma)T, interior outside wheel torque is poor
Δ T considers system unmodelled dynamics w=[w as control amount, u=Δ T1 w2]T, obtain single track lateral dynamic model
It is as follows:
Wherein:
In formula, m is complete vehicle quality, vxFor mass center longitudinal velocity, IzFor the rotary inertia in vehicle z-axis direction at mass center,
Cf,rIt is averaged cornering stiffness for antero posterior axis, lf,rFor the distance of antero posterior axis to mass center, b is average wheelspan, and R is front wheel steering angle, and δ is
Front wheel steering angle, w1The error generated when for the conversion of interior outside wheel lateral force to axis lateral force, w2For the torsion of interior outside wheel rolling
The error generated when square and the conversion of windage difference in torque are to axis lateral force.
(2) using any controller for guaranteeing formula (4) closed-loop stabilization.
Step S5: when vehicle centroid side drift angle and yaw-rate motion profile and constraint equationWhen intersection,
Using robust invariant set control method, and vehicle centroid side drift angle and yaw-rate are constrained in and handed in neighborhood of a point, specific steps
It is as follows:
(1) description of intersection point
If the state trajectory and constraint equation of the system of formula (4) descriptionA1 point is intersected at, such as Fig. 3 institute
Show.The coordinate for remembering A1 is (x10,x20)T, then the kinetics equation of A1 point are as follows:
(2) coordinate transform
When the state trajectory and constraint equation of formula (4) descriptionWhen intersection, if z1=x1-x10, x2=
x2-x20, then it can be obtained by formula (4) and (5):
Wherein, z=(z1,z2)T,
(3) robust invariant set describes
For the system of formula (6) description, ifz(t0) ∈ Ω,
And in control lawUnder the action of, have:
In formula, Ω is robust invariant set.
(4) robust invariant set controller is designed
For the system of formula (6) description, if it exists positive definite symmetrical matrix X ∈ Rn×n, matrix Y ∈ Rm×n, scalar lambda > 0, μ >
0, so that following linear matrix inequality is set up:
And enable P=X-1, K=YX-1, then robust invariant set control amount is obtained
Step S6: the robust invariant set controller that step S5 is designed carries out Vehicular yaw stability contorting.
By robust invariant set control amountWith the control amount u of formula (5)0It is added, the sideway for obtaining anti-oversteering stablizes control
Amount processedAlgorithm flow chart is as shown in Figure 4.
Claims (3)
1. a kind of robust invariant set control method of anti-four motorized wheels electric vehicle oversteering, it is characterised in that the method
Steps are as follows:
One, the rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle lateral force saturation is determined by experimental datam；
Two, the control problem of anti-four motorized wheels electric vehicle oversteering is converted into rear axle side drift angle constraint control problem,
That is: αr≤αm, αrFor rear axle tyre slip angle；
Three, rear axle tyre slip angle constraint control problem is converted to the constraint of vehicle centroid side drift angle β and yaw rate gamma expression
Control problem, it may be assumed thatlrFor mass center to the distance of rear axle wheel, vxFor mass center longitudinal direction speed；
Four, it takesIt will be divided using vehicle centroid side drift angle β as abscissa by the space of ordinate of yaw rate gamma
Exceed binding occurrence α for two spaces: rear axle tyre slip anglemSpace and rear axle tyre slip angle without departing from binding occurrence αmSky
Between；
Five, when vehicle centroid side drift angle β and yaw rate gamma are in rear axle tyre slip angle without departing from binding occurrence αmSpace when, adopt
With the yaw-rate tracking and controlling method for guaranteeing closed-loop stabilization；
Six, as vehicle centroid side drift angle β and yaw rate gamma motion profile and constraint equationWhen intersection, Shandong is designed
Stick invariant set controller is by vehicle centroid side drift angle β and yaw rate gamma control in an invariant set of intersection point.
2. the robust invariant set control method of anti-four motorized wheels electric vehicle oversteering according to claim 1,
It is characterized in that in the step 5, as follows using the yaw-rate tracking and controlling method for guaranteeing closed-loop stabilization:
(1) using side slip angle β and mass center yaw rate gamma as state variable, x=(beta, gamma)T, interior outside wheel torque difference Δ T work
For control amount, u=Δ T considers system unmodelled dynamics w=[w1 w2]T, it is as follows to obtain single track lateral dynamic model:
Wherein:
In formula, m is complete vehicle quality, vxFor mass center longitudinal velocity, IzFor the rotary inertia in vehicle z-axis direction at mass center, Cf,rFor
Antero posterior axis is averaged cornering stiffness, lf,rFor the distance of antero posterior axis to mass center, b is average wheelspan, and R is front wheel steering angle, and δ is front-wheel
Steering angle, w1The error generated when for the conversion of interior outside wheel lateral force to axis lateral force, w2For interior outside wheel rolling torque and
The error generated when the conversion of windage difference in torque is to axis lateral force；
(2) using any controller for guaranteeing formula (4) closed-loop stabilization.
3. the robust invariant set control method of anti-four motorized wheels electric vehicle oversteering according to claim 2,
It is characterized in that in the step 6, the design procedure of robust invariant set controller is as follows:
(1) state trajectory and constraint equation of the system of formula (4) description are setA1 point is intersected at, remembers the seat of A1
It is designated as (x10,x20)T, then the kinetics equation of A1 point are as follows:
(2) when the state trajectory and constraint equation of formula (4) descriptionWhen intersection, if z1=x1-x10, x2=x2-
x20, then:
Wherein, z=(z1,z2)T,
(3) ifz(t0) ∈ Ω, and in control lawEffect
Under, have:
In formula, Ω is robust invariant set；
(4) positive definite symmetrical matrix X ∈ R if it existsn×n, matrix Y ∈ Rm×n, scalar lambda > 0, μ > 0, so that following linear matrix inequality
It sets up:
And enable P=X-1, K=YX-1, then robust invariant set control amount is obtained
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