CN112016155A - All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof - Google Patents
All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof Download PDFInfo
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Abstract
The invention provides an all-electric drive distributed unmanned vehicle motion simulation platform and a design method thereof; according to the invention, a complete vehicle overall dimension, aerodynamics, a suspension and tire system parameter model is completed in Carsim, a driving end, a steering end and a braking end of a Carsim traditional vehicle model are disconnected, a driving system model, a steering system model and a braking system model are established by Simulink, and a vehicle model in Carsim software obtains independent transient parameters of driving moment, braking moment and steering angle through external data interface exchange in Carsim software, and a driver control model and an algorithm control decision model are established in Simulink, so that the establishment of a distributed unmanned vehicle simulation platform is realized; the unmanned vehicle simulation platform has the advantages of independent driving/steering/braking, and can realize six steering modes such as two-wheel steering, four-wheel steering, crab walking, pivot steering and the like based on a steering kinematics model established by the platform, so that the motion mode of the unmanned vehicle can be comprehensively simulated.
Description
Technical Field
The invention relates to the technical field of unmanned vehicle motion simulation platforms, in particular to an all-electric drive distributed unmanned vehicle motion simulation platform and a design method thereof.
Background
The full-electric-drive distributed unmanned vehicle is the development trend of the current new energy vehicles, and compared with the centralized-drive traditional vehicle, the full-electric-drive distributed unmanned vehicle adopts the full-electric-drive technology, reduces complex transmission mechanisms, creates a new space for vehicle arrangement, and brings new challenges for the motion control of the whole vehicle. The advantages of the all-electric drive unmanned vehicle are mainly reflected in the following three aspects: firstly, the motor is an actuator and an information unit, can provide accurate information for a dynamics feedback control system, and is the basis of multi-actuator coordination control; secondly, the distributed unmanned vehicle cancels transmission parts such as a differential mechanism, a transmission shaft and the like, the internal space structure is more compact, the transmission efficiency is improved, and the energy consumption is reduced; and thirdly, the driving motor and the steering motor of the all-electric drive unmanned vehicle are independently controllable, so that the driving performance and the stability of coordinated control are ensured, and the flexibility of the motion of the whole vehicle is improved, so that the all-electric drive unmanned vehicle has a flexible steering mode which is difficult to realize by various centralized driving electric vehicles such as crab walking and pivot steering.
With the progress of computer technology, simulation analysis has become an important auxiliary means for the development of automobile chassis. In the prior art, a four-wheel independently-driven distributed electric vehicle simulation platform successfully established by adopting a conventional vehicle dynamics software Carsim and Matlab/Simulink combined simulation mode is adopted, and a four-wheel independently-driven distributed pure electric vehicle simulation platform is established by adopting a Cruise software and Matlab/Simulink combined simulation mode; and a dynamics simulation model of each subsystem and the whole vehicle is built based on Matlab/Simulink, so that the motion simulation of crab walking, pivot steering and the like is realized. However, when the existing platform is applied to the full-electric-drive distributed unmanned vehicle motion simulation, the following disadvantages are caused:
(1) in the existing simulation platform of the independent drive electric vehicle, 4-wheel independent drive/brake/steering simulation cannot be realized, so that the motion mode of the unmanned vehicle is difficult to be comprehensively simulated;
(2) in the motion control algorithm of the existing simulation platform, the influence of dynamics is ignored or a non-parametric dynamics model is adopted, so that an engineer is inconvenient to research the upper-layer trajectory planning and tracking algorithm of the unmanned vehicle;
(3) at present, a parameterized dynamics control model can only be applied to track tracking kinematics simulation of front axle or rear axle steering, and no learner performs kinematics model research aiming at a full-electric-drive distributed mobile chassis.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a full electric drive distributed unmanned vehicle motion simulation platform based on Carsim and Simulink and capable of realizing four-wheel independent drive/brake/steering functions and a design method thereof.
The invention adopts the following technical scheme:
the invention provides an all-electric drive distributed unmanned vehicle motion simulation platform which adopts combined simulation of Carsim and Simulink and comprises a vehicle body outline dimension model, an aerodynamic model, a tire and suspension system model, a driving system model, a steering system model and a braking system model which are created by the Carsim.
Further, the simulation platform is a four-wheel independent driving/steering/braking simulation platform; the simulation platform comprises a simulation module in an MATLAB/Simulink environment; the simulation module comprises a driver control module, a control algorithm decision module, four driving motor integrated modules, four steering motor integrated modules, a state information feedback module and a control quantity receiving module.
The invention provides a design method of a full electric drive distributed unmanned vehicle motion simulation platform, which is used for the design of the simulation platform and comprises the following specific steps of completing a parameter model of overall vehicle overall dimension, aerodynamics, a suspension and a tire system in a Carsim, simultaneously disconnecting a driving end, a steering end and a braking end of a conventional vehicle model of the Carsim, establishing a driving system model, a steering system model and a braking system model by Simulink, enabling the vehicle model in the Carsim software to obtain independent transient parameters of driving moment, braking moment and steering angle through external data interface exchange in the Carsim software, and establishing a driver control model and an algorithm control decision model in the Simulink to realize the establishment of the distributed unmanned vehicle simulation platform.
Further, the method for establishing the braking system model comprises the steps of establishing a proportional controller, an ABS controller and a Simulink braking motor model in a Simulink environment, setting an interface of an input variable and an output variable in Carsim software, completing establishment of the unmanned platform independent electric brake, and loading the expected braking torque of each wheel into a wheel model of the Carsim software respectively through an incremental PID control algorithm.
Further, the method for establishing the steering system model comprises the steps of establishing an upper computer, a motor driver, a Simulink steering motor model and a power assembly steering shaft in a Simulink environment to form closed-loop feedback control of the steering system, and loading the expected tire rotation angle into a wheel model of a Carsim software through an incremental PID control algorithm.
Further, the method for establishing the steering system model comprises the steps of establishing an upper computer, a motor driver, a Simulink steering motor model and a power assembly steering shaft in a Simulink environment to form closed-loop feedback control of the steering system, and loading the expected tire rotation angle into a wheel model of a Carsim software through an incremental PID control algorithm.
Furthermore, alternating current permanent magnet synchronous motors are adopted in the driving system model, the braking system model and the steering system model.
Further, a vehicle speed control strategy is included within the driver control model.
Further, the specific method of the vehicle speed control strategy is that a Simulink wheel side motor model is built under a Simulink environment, and expected vehicle speed is loaded into a wheel model of Carsim software through an incremental PID control algorithm.
The invention has the following beneficial effects:
(1) the invention establishes a full electric drive distributed unmanned vehicle simulation platform based on Carsim/Simulink, and the unmanned vehicle simulation platform has the advantages of independent drive/steering/braking. The steering kinematics model established based on the platform can realize six steering modes such as two-wheel steering, four-wheel steering, crab walking, pivot steering and the like, namely four-wheel independent driving/braking/steering simulation can be realized, so that the motion mode of the unmanned vehicle can be comprehensively simulated; and the all-electric drive distributed drive unmanned vehicle four-wheel ackerman steering built based on the platform can realize smaller steering radius, can better keep speed stability and mechanical response characteristics, and can be used for vehicle path tracking control.
(2) The path tracking kinematics model can be designed into an upper layer and a lower layer based on the advantages of independent driving/steering of the all-electric drive distributed unmanned vehicle. The relation between the speed and the front axle angle in the whole vehicle path tracking control process and the state quantity can be known through the upper-layer kinematics, and the lower-layer kinematics utilizes a four-wheel ackerman steering model to map the vehicle mass center speed and the front axle angle to the four-wheel speed and the steering angle control quantity. The distributed unmanned vehicle-based layered kinematics theory can better reflect the motion characteristics of the vehicle during running, and provides an effective simulation platform and a theoretical basis for a follow-up trajectory tracking control algorithm.
Drawings
FIG. 1 is a diagram of a dynamic model architecture of an all-electric drive distributed unmanned vehicle motion simulation platform;
FIG. 2 is a block diagram of an electric drive distributed unmanned vehicle motion simulation platform;
FIG. 3 is a driving torque control flow of the incremental PID algorithm;
FIG. 4 is a brake system model control flow diagram;
FIG. 5 is a brake torque control flow of the incremental PID algorithm;
FIG. 6 is a steering system control flow diagram;
FIG. 7 is a flow chart of incremental PID corner control;
FIG. 8 is a flow chart of incremental PID vehicle speed control;
FIG. 9 is a diagram of six steering modes of the unmanned vehicle;
FIG. 10 is a four-wheel ackermann steering kinematics model;
FIG. 11 is a schematic diagram of two/four-wheel Ackerman steering trajectory;
FIG. 12 is a schematic diagram of two/four-wheel ackermann steering speed tracking;
FIG. 13 is a schematic view of the torque on each wheel of a two-wheel Ackerman steering system;
FIG. 14 is a schematic view of the moments of the wheels of the four-wheel Ackerman steering;
fig. 15 is a schematic diagram of a distributed unmanned vehicle path tracking kinematics model.
Detailed Description
The invention is further described with reference to the following figures and examples. In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and the like are used in the indicated orientations and positional relationships based on the orientation shown in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be considered as limiting.
Example 1
As shown in FIG. 1, the invention provides an all-electric drive distributed unmanned vehicle motion simulation platform which is built by combined simulation of Carsim and Simulink, wherein the simulation platform comprises a vehicle body outline dimension model, an aerodynamic model, a tire and suspension system model, a driving system model, a steering system model and a braking system model, wherein the vehicle body outline dimension model, the aerodynamic model, the tire and suspension system model and the driving system model, the steering system model and the braking system model are created by the Simulink.
Specifically, as shown in fig. 2, the simulation platform in this embodiment is a four-wheel independent drive simulation platform, which includes a simulation module in an MATLAB/Simulink environment, where the simulation module includes a driver control module, a control algorithm decision module, four drive motor integration modules, four steering motor integration modules, and a Carsim S-Function module; each driving motor integrated module and each steering motor integrated module respectively act on each independent wheel; two ends of a Carsim S-Function module in the simulation platform are connected with a state information feedback module and a control quantity receiving module; the driver control module plans a target path, namely inputs expected path information and outputs current state quantity information to the algorithm control decision module, and the algorithm control decision module makes a decision to obtain an expected speed of the whole vehicle and a front axle angle; and then, obtaining the expected speed and the expected rotation angle of each wheel according to the expected speed of the whole vehicle and the rotation angle of the front axle through a torque rotation angle distribution module, so that a target torque signal and a target rotation angle signal of each wheel are sent to a driving motor integrated module and a steering motor integrated module, the parameters of a driving motor and a steering motor are controlled, the aim of distributing the driving torque and the steering torque of each wheel is fulfilled, a control quantity receiving module receives the signals and transmits the signals to a Carsim S-Function module, the rotation angle and the speed of each wheel are controlled, and a state information feedback module feeds back the rotation angle and the speed information of each wheel to the modules to establish a feedback control route.
The invention provides a specific design method of an all-electric drive distributed unmanned vehicle motion simulation platform, which comprises the following steps:
the method comprises the steps of firstly establishing a motor model, adopting a permanent magnet synchronous motor for a driving motor and a steering motor of the simulation platform, controlling the motor model by adopting an incremental PID control algorithm in the simulation platform, improving the integral saturation energy of an incremental PID control system, reducing overshoot, improving the dynamic performance and being suitable for regulating the transient parameters involved in the simulation platform.
After the selection and the establishment of the motor model are completed, a parameter model of the overall vehicle overall dimension, aerodynamics, a suspension and a tire system is completed in Carsim, a driving end, a steering end and a braking end of a traditional vehicle model of Carsim are disconnected, a driving system model, a steering system model and a braking system model are established by Simulink, the vehicle model in Carsim software obtains independent transient parameters of driving moment, braking moment and steering angle through external data interface exchange in Carsim software, and a driver control model and an algorithm control decision model are established in Simulink, so that the establishment of a distributed unmanned vehicle simulation platform is realized.
Specifically, the method for establishing the driving system model comprises the following steps: the power transmission mode in the whole vehicle model in the Carsim software is changed into four-wheel drive, six modules of an engine, a hydraulic coupler, a transmission, a transfer case, a front axle differential and a rear axle differential in the Carsim whole vehicle model are disconnected, the modules are changed into external access, an input interface and an output interface in the Carsim software are set, signal transmission between the Carsim whole vehicle model and the Simulink-based power model is completed, and expected driving moments of wheels are loaded into a wheel model of the Carsim software respectively through an incremental PID control algorithm, as shown in FIG. 3.
The simulation platform provided by the invention is an all-electric drive mechanism, and a drive motor of the simulation platform can provide driving force for a mobile platform and also can provide braking force for the mobile platform, so that the building method of the braking system model comprises the following steps: a proportional controller, an ABS controller and a Simulink driving motor model are built under the Simulink environment, an interface for inputting and outputting variables in the Carsim software is set, the building of the unmanned platform independent electric brake is completed, and the expected braking torque of each wheel is loaded into the wheel model of the Carsim software respectively through an incremental PID control algorithm, as shown in FIGS. 4 and 5.
Similarly, the method for establishing the steering system model comprises the following steps: an upper computer, a motor driver, a Simulink steering motor model and a power assembly steering shaft are built under the Simulink environment to form closed-loop feedback control of a steering system, and an expected tire rotation angle is loaded into a wheel model of a Carsim software through an incremental PID control algorithm, as shown in FIGS. 6 and 7.
In addition, a vehicle speed control strategy is also provided in the embodiment, and the specific method of the vehicle speed control strategy is to build a Simulink wheel side motor model in a Simulink environment, and load the expected vehicle speed into a wheel model of Carsim software through an incremental PID control algorithm, as shown in FIG. 8.
The simulation platform is built, and the all-electric drive distributed unmanned vehicle built based on the simulation platform has independent driving, independent braking and independent steering systems, namely, each wheel of the unmanned vehicle can independently act; the fully electrically-driven distributed unmanned vehicle in the embodiment is a four-wheel vehicle, and can have two-wheel steering, four-wheel differential steering, center steering, crab walking, center differential steering and pure differential steering modes by controlling the wheel speed and the turning angle of each wheel, as shown in fig. 9, so that four-wheel independent driving/braking/steering simulation can be realized, and the motion mode of the unmanned vehicle can be comprehensively simulated.
Example 2
The embodiment provides a four-wheel ackermann steering kinematics model, which is arranged in the torque-steering angle distribution module described in embodiment 1. The Ackerman steering principle mainly solves the problem that wheels are abraded too fast in the steering motion process of a vehicle, and the main mode is as follows: the inner side and the outer side wheels of the vehicle have to do circular motion around an instantaneous center when the vehicle turns, so that the wheels and the ground are ensured to be in pure rolling and non-slip phenomena, and smooth turning of the vehicle is realized, the turning angle of the inner side wheels is 2-4 degrees larger than that of the outer side wheels when the traditional two-wheel Ackermann turning vehicle turns through a connecting rod structure, the rotating centers of the four wheels are positioned on the extension line of a rear shaft, and the connecting line of the wheel centers and the rotating centers of the vehicle forms 90 degrees with the speed direction of the wheels; the traditional two-wheel ackerman steering realizes the steering mode through mechanical connection, which causes poor precision of a control corner, large steering radius at high speed, serious abrasion of wheels, and even under severe working conditions, the steering mechanism can not finish the ackerman steering angle; in this embodiment, a four-wheel ackermann steering kinematics model can be established based on the advantages of independent driving and independent steering of the platform in embodiment 1.
As shown in FIG. 10, R is the distance from the center of mass G to the rotary steering O, i.e. the steering radius of the whole vehicle model, alpha1、α2、β1、β2The steering angle of each wheel; distance from the shaft center to the center of rotation; the distance from the center of mass to the rotary steering is the wheel track of the left and right wheels of the rotary half of the vehicle and the wheel track of the front and rear axles; a. b is the distance from the front and rear shafts to the center of mass G; r1、R2、R3、R4Respectively the turning radius of each wheel around the rotation center O; v1、V2、V3、V4Respectively the longitudinal speed of each wheel, and V is the centroid speed; theta is a rotation angle at the midpoint of the front axle, and is defined as an instantaneous rotation angle of the front axle of the whole vehicle model in the embodiment.
As can be derived from the geometric relationships in the figures,
tanα1＝a/(R1+B/2)；tanα2＝b/(R2+B/2)；
tanβ1＝a/(R3-B/2)；tanβ2＝b/(R4-B/2)；
obtained by the instant center theorem
The speed V of each wheel can be obtained through simultaneous formationiWith respect to the relation between the vehicle speed V and the front axle center rotational angle θ:
based on the kinematic analysis, when the four-wheel steering Ackerman model obtains the steering command theta of the driver, the four-wheel turning angle alpha can be obtained1、α2、β1、β2And each wheel speed V1、V2、V3、V4The control quantity can change the turning angle and the wheel speed of the four wheels, the expected vehicle speed and the expected turning angle are achieved, and the steering control of the distributed unmanned vehicle is realized.
The four-wheel ackermann model and the conventional two-wheel ackermann model in this embodiment are subjected to simulation verification, and it can be known that:
the steering radius of the two-wheel ackermann steering mode is greater than the steering radius of the four-wheel ackermann steering mode, as shown; when the two-wheel ackermann steering mode achieves the expected vehicle speed and the expected turning angle, the front wheel steering angle is larger, and the lateral force to be overcome is also larger, so that the front left wheel speed fluctuates up and down, as shown in fig. 12; the mode also causes the output torque of the motor at the front left wheel of the motor to vibrate violently, as shown in fig. 13, not only the motor is damaged, but also the realization of the expected instruction is influenced; four-wheel ackerman steering has a relatively small four-wheel steering angle and a small four-wheel lateral force when achieving steering at a desired vehicle speed and a desired steering angle, as shown in fig. 14. In this mode, the vehicle can achieve a smaller turning radius, and can keep the wheel speed and the motor torque stable, contributing to safe motor operation and safe driving of the unmanned vehicle, as shown in fig. 11.
Example 3
The embodiment provides an all-electric drive distributed unmanned vehicle path following kinematics model, which comprises an upper layer kinematics model and a lower layer kinematics model, wherein the upper layer kinematics model can map the position and the course angle state quantity of a whole vehicle by the speed of the whole vehicle and the angle of a front shaft, and the lower layer kinematics model can map the speed of the whole vehicle and the angle of the front shaft to respective four-wheel speed and four-wheel angle control quantity, and the lower layer kinematics model is established based on the four-wheel ackermann steering model in the embodiment 2; wherein the upper layer kinematics model is arranged within the algorithmic control decision module as described in example 1.
As shown in FIG. 15, the upper layer kinematic model is as follows, under an inertial coordinate system OXY, (X)r,Yr)、(Xf,Yf)、(XG,YG) Respectively are coordinates of the axle center and the mass center of the rear axle and the front axle of the vehicle, phi is the course angle of the unmanned vehicle, theta is the central rotation angle of the front axle of the unmanned vehicle, and VGRepresenting the speed of the center of mass of the unmanned vehicle, L is the wheel base, R is the steering radius, and defining the normal speed V and the speed V of the center of massGAre equal.
In the center of mass (X) of the distributed unmanned vehicleG,YG) The speed is:
front axle and center of mass constraint of
The upper layer kinematic model of the vehicle obtained by derivation calculation is as follows:
in the distributed unmanned vehicle path tracking control process, V and theta are used as control quantities, so that the model can be further expressed in a more general form
In the formulaThe state quantity xi ═ X, Y, phi]TControl quantity mu is [ V, theta ]]T。
The speed V and the front axle angle theta in the whole vehicle path tracking control process can be known by the upper layer kinematics about the state quantity [ XG,YG,φ]The lower layer kinematics model can map the vehicle mass center speed V and the front axle angle theta to the four-wheel speed (V) by using the four-wheel ackerman steering model1、V2、V3、V4) And angle of rotation (alpha)1、α2、β1、β2) The tracking control of the desired path is realized.
It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. The all-electric drive distributed unmanned vehicle motion simulation platform is established by combined simulation of Carsim and Simulink and comprises a vehicle body outline dimension model, an aerodynamic model, a tire and suspension system model, a driving system model, a steering system model and a braking system model which are established by the Carsim.
2. The all-electric drive distributed unmanned vehicle motion simulation platform of claim 1, wherein the simulation platform is a four-wheel independent drive/steering/brake simulation platform; the simulation platform comprises a simulation module in an MATLAB/Simulink environment; the simulation module comprises a driver control module, a torque corner distribution module, a control algorithm decision module, four driving motor integrated modules, four steering motor integrated modules, a state information feedback module and a control quantity receiving module.
3. A design method of a full electric drive distributed unmanned vehicle motion simulation platform is used for designing the simulation platform as claimed in claims 1-2, and is characterized in that a complete vehicle outline dimension, aerodynamics, a suspension and tire system parameter model is completed in a Carsim, a driving end, a steering end and a braking end of a Carsim traditional vehicle model are disconnected at the same time, a driving system model, a steering system model and a braking system model are established by a Simulink, the vehicle model in the Carsim software obtains independent transient parameters of a driving moment, a braking moment and a steering angle through external data interface exchange in the Carsim software, and a driver control model and an algorithm control decision model are established in the Simulink to realize establishment of the distributed unmanned vehicle simulation platform.
4. The method for designing the distributed unmanned vehicle motion simulation platform according to claim 2, wherein the method for establishing the driving system model comprises the steps of changing a power transmission mode in a vehicle model in Carsim software into four-wheel drive, disconnecting six modules including an engine, a hydraulic coupler, a transmission, a transfer case, a front axle differential and a rear axle differential in the vehicle model of Carsim, changing the modules into external access, setting an input/output interface in the Carsim software, completing signal transmission between the vehicle model of Carsim and the Simulink-based power model, and loading expected driving moments of wheels into wheel models of the Carsim software respectively through an incremental PID control algorithm.
5. The design method of the distributed unmanned vehicle motion simulation platform according to claim 2, wherein the brake system model is established by building a proportional controller, an ABS controller and a Simulink drive motor model in a Simulink environment, setting an interface of an input variable and an output variable in Carsim software, completing building of the unmanned platform independent electric brake, and loading each wheel expected brake torque into a wheel model of the Carsim software respectively through an incremental PID control algorithm.
6. The design method of the distributed unmanned vehicle motion simulation platform according to claim 2, wherein the steering system model is established by building an upper computer, a motor driver, a Simulink steering motor model and a power assembly steering shaft in a Simulink environment to form closed-loop feedback control of the steering system, and loading a desired tire rotation angle into a wheel model of a Carsim software through an incremental PID control algorithm.
7. The method for designing the distributed unmanned vehicle motion simulation platform according to claim 2, wherein alternating-current permanent magnet synchronous motors are adopted in the driving system model, the braking system model and the steering system model.
8. The method of designing a distributed unmanned vehicle motion simulation platform according to claim 2, further comprising a vehicle speed control strategy within the driver control model.
9. The design method of the distributed unmanned vehicle motion simulation platform according to claim 8, wherein the specific method of the vehicle speed control strategy is that a Simulink wheel side motor model is built under a Simulink environment, and an expected vehicle speed is loaded into a wheel model of a Carsim software through an incremental PID control algorithm.
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| CN112904826A (en) * | 2021-01-18 | 2021-06-04 | 辽宁工业大学 | Unmanned electric racing car algorithm development platform |
| CN112947112A (en) * | 2021-01-27 | 2021-06-11 | 北京航空航天大学 | Unmanned vehicle simulation method based on SysML |
| CN112947112B (en) * | 2021-01-27 | 2022-08-12 | 北京航空航天大学 | Unmanned vehicle simulation method based on SysML |
| CN113722847A (en) * | 2021-08-18 | 2021-11-30 | 的卢技术有限公司 | Simulation method for minimum turning radius of four-wheel steering differential vehicle |
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