CN107585207B - A kind of vehicle line traffic control four-wheel steering system and its control method - Google Patents
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Abstract
The present invention provides a kind of vehicle line traffic control four-wheel steering system and its control methods, which is characterized in that the system includes sensor module, electronic control module, execution module；The sensor module, including rotation direction sensor, deviation ratio sensor, acceleration transducer, stay wire displacement sensor；The electronic control module, including Condition Monitoring Unit, driving status optimize unit, status control unit；The execution module, including steering mechanism, driving mechanism；In addition, control method provided by the invention eliminates the process to the modeling of complicated Vehicular system, the calculating of a large amount of Non-linear coupling variables is eliminated, the response time is saved.And invention applies " decompose --- synthesis " strategies, by four tire system " decompositions " Cheng Ruogan submodels, then again by each submodel weighted array together, so whole system runs smoothly, with stronger robustness.Control effect is more excellent.
Description
Technical Field
The invention relates to the technical field of vehicle steering, in particular to a vehicle four-wheel steering-by-wire system and a control method thereof.
Background
In recent ten years, electric automobiles are receiving more and more attention, the electrification degree of a chassis of a traditional automobile is higher and higher, and the operation stability is an important aspect of the active safety of the automobile and is an important factor which is not only related to the operation stability of the automobile but also ensures the safety guarantee when the automobile runs at high speed. Due to the improvement of the electrification degree of modern automobiles, the application of steer-by-wire is greatly concerned, the traditional complex mechanical structure is abandoned, the accurate control of the driving steering of the automobile body is achieved through an electronic control system, the misoperation of a driver is filtered, the same steering wheel corner characteristic is kept at high and low speeds, and the driving burden is reduced. The existing method of a steer-by-wire system for loading is generally that two motors are arranged at a steering wheel and a steering actuating mechanism for steering input, an electronic control unit controls the two motors in real time according to information such as the running speed of a vehicle, the lateral deviation attitude of a vehicle body, the input steering angle of a driver and the like, the motor at the steering wheel is used for receiving a steering wheel steering angle signal and simulating road feel, and the motor at the steering actuating mechanism outputs actuating torque. However, conventional steer-by-wire systems still suffer from several problems: (1) the tire characteristics of different tires are very different, in the prior art, most of the tires only consider a certain specific wheel, the response of the tire under a certain specific road surface has very large specificity on the tire rigidity curve and the road surface parameters, and the tire cannot adapt to most of the situations; (2) for a traditional steering mechanism, a steering motor controls the driving direction of an automobile through a steering execution mechanism to have certain lag. Furthermore, with a link-controlled steering mechanism, the response of the vehicle steering angle to the steering wheel angle will have different linear characteristics as the vehicle speed changes. The serious consequences caused by misoperation of a driver are undoubtedly amplified when the vehicle runs at high speed; (3) the traditional control algorithm is only used for optimizing the steering performance of the vehicle, after a complex whole vehicle model and a tire model are established, the steering angle input is controlled to follow the output, and the accuracy is poor.
For example, the patent with application number 201610907946.5 proposes a redundant drive vehicle dynamics control allocation method, which has the disadvantages of large calculation amount, complex structure and the like, and has the disadvantages of system non-modeling and inaccurate system parameters in the wheel slip rate and slip angle tracking algorithm, and after the decision of the upper control algorithm, the reaction of each wheel lags. The driving state of the vehicle is judged by setting a weight matrix, and boundary oscillation of working condition judgment is generated under the condition of micro steering or road surface input of the vehicle.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a vehicle four-wheel steering-by-wire system and a control method thereof, which are mainly realized by the following technical means.
A vehicle drive-by-wire four-wheel steering system is characterized by comprising a sensor module, an electronic control module and an execution module;
the sensor module comprises a steering sensor, an offset rate sensor, an acceleration sensor and a stay wire displacement sensor;
the electronic control module comprises a state monitoring unit, a driving state optimizing unit and a state control unit;
the execution module comprises a steering mechanism and a driving mechanism;
the state monitoring unit respectively receives a steering wheel angle measured by a steering sensor when the vehicle runs currently, a yaw velocity measured by an offset rate sensor, a transverse and longitudinal acceleration measured by an acceleration sensor and a tire sideslip angle measured by a stay wire displacement sensor; the state monitoring unit transmits the received steering wheel angle, yaw velocity, transverse and longitudinal acceleration and tire slip angle information to the driving state optimizing unit, the driving state optimizing unit obtains a reference ideal state value for keeping the vehicle stable through calculation and analysis, the reference ideal state value is transmitted to the state control unit, the state control unit calculates the optimal front and rear wheel angle and four-wheel driving force when the vehicle runs at present according to the ideal state value, the front and rear wheel angle is transmitted to the steering mechanism, and the four-wheel driving force is transmitted to the driving mechanism.
A control method of a vehicle four-wheel steering-by-wire system is characterized by comprising the following steps:
the method comprises the following steps: respectively giving corresponding torque input of four tire systems of a vehicle, measuring output feedback of the state of the whole vehicle to form an off-line data sample, obtaining a multi-input multi-output system of the four tire systems in an off-line state, and decomposing the multi-input multi-output system into 4 multi-input single-output subsystems MISO corresponding to the four tire systemsi’,i＝1,2,3,4；
Step two: by subsystem MISOi', i is 1,2,3,4, carry on the satisfactory clustering, get subsystem MISOi' and obtaining MISO to the i subsystem by fuzzy weighting methodi' fuzzy control rules;
the method described by the sub-model is as follows:
MISO for ith subsystemi', subsystem MISO can be clustered through satisfactioniIs divided intoiAre clustered and c is obtainediDescription of the submodels:
where Z is a subset of the sample set Z { Z1，Z2，···ZciThe number of which is ciValue change, MqDenotes the qth submodel, pqIs a weighted value of the qth sub-model,is sample data, d is sample data amount, y is output amount, and c is initialiSetting the value as 2, judging whether the satisfactory clustering is successful according to the effectiveness index of the satisfactory clustering, and increasing c if the satisfactory clustering is unsuccessfuliThe values are clustered satisfactorily again.
Further derived fuzzy control rules are as follows:
wherein,a generalized input vector representing the i-th subsystem MISOi',the generalized input vector delta representing the ith subsystem MISOi',increment of output variable, d, representing the ith subsystem MISOiiRepresents the dimension of the i-th subsystem MISOi',a projection of the qth cluster center representing the output of the ith subsystem MISOi' in the generalized output space,representing the qth pair of submodelsThe output parameter of (1).
Step three: generalized monitoring of four tire systems in real time under on-line controlOutput torque TiI is 1,2,3,4, and the generalized output torque T is calculatediFor the membership degree of each submodel, fusing each submodel into a single multi-input single-output global model;
whereinTo representThe degree of membership to the i-th sub-system MISOi',is composed ofAndmeasure of the distance function between, m represents an adjustable parameter of the degree of blurring, m>1，
The expression form of the single multi-input single-output global model is as follows:
wherein,the output variable increment of the single multi-input single-output global model.
Step five: establishing a parameter model of a complete vehicle dynamic system;
the parameter model of the complete vehicle dynamics system is established and expressed as follows: a (z)-1)Δy(t)＝B(z-1)Δu(t-1) Where t denotes the time, Δ y (t) denotes the output delta at time t, Δ u (t-1) denotes the input delta at time t-1, and z-1Representing function discrete operators, A, B all being z-1A polynomial of (a);
step six: optimizing control variables of four tire systems under a constraint condition by taking the parameter model of the whole vehicle dynamics as a prediction model of a GPC algorithm;
the constraint conditions are as follows:
wherein Q is1、Q2F are all weight factors, T represents time, T represents time T + m, m represents intermediate variable, P represents prediction step length, beta represents yaw rate, beta represents prediction step lengthrRepresenting yaw rate desired value, gamma representing centroid slip angle, gammarRepresenting the centroid slip angle expectation, E1、E2、E3、E4Respectively representing penalty functions corresponding to four tire systems,
wherein k represents a tire longitudinal slip ratio, kmaxThe maximum longitudinal slip of the tire is represented, i is 1,2,3,4, and the ith tire system is represented.
The invention has the beneficial effects that:
1. the invention does not need to provide a nonlinear model of a finished automobile control system, can convert the identification problem of a complex nonlinear system of automobile steering into a simple linear model for solving the group four-wheel driving force and a corresponding stable interval defined by a fuzzy boundary in the input and output data of actual measurement through a satisfactory clustering and fuzzy weighting method, and obtains a parameter model of a finished automobile dynamics system through a fuzzy weighting method, thereby converting the multivariable nonlinear problem of four tire systems of the automobile during turning into the prediction control problem of a linear system.
2. The control method provided by the invention omits the process of modeling a complex vehicle system, omits the calculation of a large number of nonlinear coupling variables and saves the response time. In addition, the invention applies a decomposition-synthesis strategy to decompose four tire systems into a plurality of submodels, and then weights and combines each submodel together, so that the whole system runs stably and has stronger robustness. The control effect is better.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle four-wheel steering by wire system according to the present invention.
FIG. 2 is a schematic diagram of a control method for a four-wheel steering-by-wire system of a vehicle according to the present invention.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, a vehicle four-wheel steering by wire system is characterized by comprising a sensor module, an electronic control module and an execution module;
the sensor module comprises a steering sensor, an offset rate sensor, an acceleration sensor and a stay wire displacement sensor;
the electronic control module comprises a state monitoring unit, a driving state optimizing unit and a state control unit;
the execution module comprises a steering mechanism and a driving mechanism;
the state monitoring unit respectively receives a steering wheel angle measured by a steering sensor when the vehicle runs currently, a yaw velocity measured by an offset rate sensor, a transverse and longitudinal acceleration measured by an acceleration sensor and a tire sideslip angle measured by a stay wire displacement sensor; the state monitoring unit transmits the received steering wheel angle, yaw velocity, transverse and longitudinal acceleration and tire slip angle information to the driving state optimizing unit, the driving state optimizing unit obtains a reference ideal state value for keeping the vehicle stable through calculation and analysis, the reference ideal state value is transmitted to the state control unit, the state control unit calculates the optimal front and rear wheel angle and four-wheel driving force when the vehicle runs at present according to the ideal state value, the front and rear wheel angle is transmitted to the steering mechanism, and the four-wheel driving force is transmitted to the driving mechanism.
As shown in fig. 2, a control method of a four-wheel steering-by-wire system for a vehicle, comprising the steps of:
the method comprises the following steps: respectively giving corresponding torque input of four tire systems of a vehicle, measuring output feedback of the state of the whole vehicle to form an off-line data sample, obtaining a multi-input multi-output system of the four tire systems in an off-line state,
and decomposing the multiple-input multiple-output system into 4 multiple-input single-output subsystems MISO corresponding to the four tire systemsi’,i＝1,2,3,4；
Step two: by subsystem MISOi', i is 1,2,3,4, carry on the satisfactory clustering, get subsystem MISOi' and obtaining MISO to the i subsystem by fuzzy weighting methodi' fuzzy control rules;
the method described by the sub-model is as follows:
MISO for ith subsystemi', subsystem MISO can be clustered through satisfactioni' division into c clusters, and obtaining ciDescription of the submodels:
where Z is a subset of the sample set Z { Z1，Z2，···ZciThe number of which is ciValue change, MqDenotes the qth submodel, pqIs a weighted value of the qth sub-model,is sample data, d is sample data amount, y is output amount, and c is initialiSetting the value as 2, judging whether the satisfactory clustering is successful according to the effectiveness index of the satisfactory clustering, and increasing c if the satisfactory clustering is unsuccessfuliThe values are clustered satisfactorily again.
Further derived fuzzy control rules are as follows:
wherein,a generalized input vector representing the i-th subsystem MISOi',the generalized input vector delta representing the ith subsystem MISOi',increment of output variable, d, representing the ith subsystem MISOiiRepresents the dimension of the i-th subsystem MISOi',a projection of the qth cluster center representing the output of the ith subsystem MISOi' in the generalized output space,representing the qth pair of submodelsThe output parameter of (1).
Step three: in an online control state, generalized output torques T of four tire systems are monitored in real timeiI is 1,2,3,4, and the generalized output torque T is calculatediFor the membership degree of each sub-model, fusing each sub-model into a single MISO global model;
whereinTo representThe degree of membership to the i-th sub-system MISOi',is composed ofAndmeasure of the distance function between, m represents an adjustable parameter of the degree of blurring, m>1，
The expression form of the single multi-input single-output global model is as follows:
wherein,the output variable increment of the single multi-input single-output global model.
Step four: establishing a parameter model of a complete vehicle dynamic system;
parameter model of the whole vehicle dynamics system: a (z)-1)Δy(t)＝B(z-1) Δ u (t-1), where t represents time, Δ y (t) represents the output delta at time t, Δ u (t-1) represents the input delta at time t-1, and z-1Representing function discrete operators, A, B all being z-1A polynomial of (c).
Step five: optimizing control variables of four tire systems under a constraint condition by taking the parameter model of the whole vehicle dynamics as a prediction model of a GPC algorithm;
the constraint conditions mainly ensure the stable running of the vehicle, which depends onThe steering stability of the vehicle during turning is mainly determined by the yaw rate beta and the centroid slip angle gamma of the vehicle, the driving torque given by the four tire systems influences the yaw rate beta and the centroid slip angle gamma at the next moment of the control period, and the deviation between the total output and the expected total output is reduced to the maximum extent, so that a first constraint condition J is defined1Comprises the following steps:
wherein Q is1、Q2F is a weight factor, T represents time, T represents time T + m, m represents an intermediate variable, Y (T) represents total output of the whole vehicle at the time T, P represents a predicted step length, R (T) represents expected total output of the whole vehicle at the time T, beta represents a yaw rate, andrrepresenting yaw rate desired value, gamma representing centroid slip angle, gammarRepresenting a centroid slip angle expected value;
during the turning process, the magnitude of the longitudinal force of the four tire systems of the vehicle is generally proportional to the longitudinal slip ratio of the tires under the condition that the slip ratio is small as the vehicle speed increases, but after the longitudinal slip ratio of the tires exceeds a certain value, the longitudinal force of the four tire systems in the nonlinear stage is difficult to control, and the longitudinal force is not a fixed value at the moment, the four tire systems are different in performances at different temperatures and on the ground, so the longitudinal slip ratio k of the tires can be regarded as soft constraint:
-kmax≤k≤kmax
the longitudinal slip rate k of the tire directly reflects the slip performance of the tire, and the constraint of the longitudinal slip rate output of the four tire systems is a nonlinear state constraint, which affects the speed of numerical solution. Therefore, we set the constraint condition of the longitudinal slip rate as a penalty function and set certain weight coefficients to facilitate fast solving the constraint problem, which forces k to be kept in a stable longitudinal slip rate range, the penalty function is calculated as follows,
wherein k represents a tire longitudinal slip ratio, kmaxThe maximum longitudinal slip ratio of the tire is expressed, i is 1,2,3,4, and the ith tire system is expressed.
From this, a second constraint J is obtained2：
F represents a weight coefficient, Ei(t) represents a penalty function corresponding to the ith tire system at time t;
then, the total constraint J is:
wherein E is1、E2、E3、E4Respectively representing penalty functions corresponding to four tire systems,
the present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (8)
1. A control method of a vehicle four-wheel steering-by-wire system is characterized by comprising the following steps:
the method comprises the following steps: respectively giving corresponding torque input of four tire systems of a vehicle, measuring output feedback of the state of the whole vehicle to form an off-line data sample, obtaining a multi-input multi-output system of the four tire systems in an off-line state, and decomposing the multi-input multi-output system into 4 multi-input single-output subsystems MISO corresponding to the four tire systemsi，i＝1,2,3,4；
Step two: by subsystem MISOiI is 1,2,3,4, and performing satisfactory clustering to obtain the subsystemsSystem MISOiDescription of the sub-model MISOi', and further obtaining a fuzzy control rule for the ith subsystem;
step three: in an online control state, generalized output torques T of four tire systems are monitored in real timeiI is 1,2,3,4, and the generalized output torque T is calculatediFor the membership degree of each submodel, fusing each submodel into a single multi-input single-output global model;
step four: establishing a parameter model of a complete vehicle dynamic system;
step five: and (3) optimizing the control variables of the four tire systems under the constraint condition by taking the parameter model of the whole vehicle dynamics as a prediction model of a GPC algorithm.
2. The vehicle four-wheel steering-by-wire system control method according to claim 1, wherein the method for obtaining the sub-model description in the second step is as follows:
MISO for ith subsystemi', subsystem MISO can be clustered through satisfactioni' division into c clusters, and obtaining ciDescription of the submodels:
where Z is a subset of the sample set Z { Z1，Z2，···ZciThe number of which varies with the value of c, MqDenotes the qth submodel, pqIs a weighted value of the qth sub-model,is sample data, d is sample data amount, y is output amount, and c is initialiSetting the value as 2, i is 1,2,3 and 4, judging whether satisfactory clustering is successful according to a satisfactory clustering effectiveness index, and if the satisfactory clustering is unsuccessful, increasing ciThe values are clustered satisfactorily again.
3. The vehicle four-wheel steering-by-wire system control method according to claim 1, wherein the fuzzy control rule in the second step is as follows:
wherein,a generalized input vector representing the i-th subsystem MISOi',the generalized input vector delta representing the ith subsystem MISOi',increment of output variable, d, representing the ith subsystem MISOiiRepresents the dimension of the i-th subsystem MISOi',a projection of the qth cluster center representing the output of the ith subsystem MISOi' in the generalized output space,representing the qth pair of submodelsThe output parameter of (1).
4. The vehicle four-wheel steering-by-wire system control method according to claim 1, wherein the generalized output torque T in step three is TiThe calculation method of the membership degree of each submodel is as follows:
whereinTo representThe degree of membership to the i-th sub-system MISOi',is composed ofAndmeasure of distance function between, m represents an adjustable parameter of the degree of blur;
the expression form of the single multi-input single-output global model is as follows:
wherein,the output variable increment of the single multi-input single-output global model.
5. The vehicle four-wheel steering-by-wire system control method according to claim 4, wherein the range of the adjustable parameter m of the degree of blurring is m > 1.
6. The vehicle four-wheel steering-by-wire system control method according to claim 4, wherein the degree of membershipWith the proviso that
7. The vehicle four-wheel steering-by-wire system control method according to claim 1, wherein the parameter model of the vehicle dynamics in step four is:
A(z-1)Δy(t)＝B(z-1)Δu(t-1)，
where t denotes time, Δ y (t) denotes an output variable increment at time t, Δ u (t-1) denotes an input variable increment at time t-1, and z-1Representing function discrete operators, A, B all being z-1A polynomial of (c).
8. The vehicle four-wheel steering-by-wire system control method according to claim 1, wherein the constraint condition in the fifth step is:
wherein Q is1、Q2F is a weighting factor, t represents the current time, t + m | t represents the predicted amount at t + m, P represents the predicted step size, beta represents the yaw rate, beta represents the predicted amountrRepresenting the desired value of the ideal yaw rate, gamma representing the centroid slip angle, gammarRepresenting the desired value of the ideal centroid slip angle, E1、E2、E3、E4Respectively representing penalty functions corresponding to four tire systems,
wherein k represents a tire longitudinal slip ratio, kmaxThe maximum longitudinal slip ratio of the tire is expressed, i is 1,2,3,4, and the ith tire system is expressed.
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| CN111055921B (en) * | 2019-12-31 | 2021-06-29 | 吉林大学 | Four-wheel steering model prediction control method based on data driving |
| CN111231984B (en) * | 2020-02-15 | 2021-07-20 | 江苏大学 | Four-wheel steering intelligent automobile pseudo-decoupling controller and control method thereof |
| CN113665669B (en) * | 2021-09-22 | 2022-09-02 | 中国第一汽车股份有限公司 | Vehicle stability control system and method |
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| CN101811515A (en) * | 2009-12-18 | 2010-08-25 | 江苏长江环境科技工程有限公司 | Control device for automotive active steering system |
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| CN106004870A (en) * | 2016-06-23 | 2016-10-12 | 吉林大学 | Vehicle stability integrated control method based on variable-weight model prediction algorithm |
| CN106891992A (en) * | 2017-01-16 | 2017-06-27 | 南京航空航天大学 | A kind of composite turning system and its Multipurpose Optimal Method |
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| CN101811515A (en) * | 2009-12-18 | 2010-08-25 | 江苏长江环境科技工程有限公司 | Control device for automotive active steering system |
| CN205381303U (en) * | 2015-12-30 | 2016-07-13 | 南京航空航天大学 | Drive -by -wire a steering system with fault -tolerant function of sensor signal |
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