CN107150680A - A kind of robust invariant set control method of anti-four motorized wheels electric car oversteering - Google Patents
A kind of robust invariant set control method of anti-four motorized wheels electric car oversteering Download PDFInfo
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- CN107150680A CN107150680A CN201710318997.9A CN201710318997A CN107150680A CN 107150680 A CN107150680 A CN 107150680A CN 201710318997 A CN201710318997 A CN 201710318997A CN 107150680 A CN107150680 A CN 107150680A
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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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- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of robust invariant set control method of anti-four motorized wheels electric car oversteering, its step is as follows：Determine the rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle side force saturationm；Rear axle tyre slip angle constraint control problem is converted into the constraint control problem that vehicle centroid side drift angle β and yaw rate gamma are represented：TakeWill be using vehicle centroid side drift angle as abscissa, the space using yaw-rate as ordinate is divided into two spaces；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 ensureing closed-loop stabilization；When vehicle centroid side drift angle and yaw-rate movement locus and constraint equationWhen intersecting, 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 barycenter yaw-rate and side slip angle by robust invariant set control method, so that reaching prevents the control targe of oversteering.
Description
Technical field
The invention belongs to electric automobile yaw stability control techniques field, being related to one kind prevents the electronic vapour of four motorized wheels
The control method of car oversteering.
Background technology
Yaw stability contorting is used for the steering stability for improving vehicle.Conventional truck yaw stability contorting passes through additional brake
Torque makes vehicle produce yaw moment, and realization prevents vehicle understeer or oversteering, improves and turns to security.Due to braking
The unsuitable long duration of action of torque, therefore conventional truck yaw stability contorting is just situated between only when recognizing understeer or oversteering
Enter.The characteristics of four motorized wheels electric automobile has four wheel drive torque continuously adjustabes and fast response time, by adjusting
The driving moment of four wheels of section can make vehicle produce yaw moment, realize yaw stability contorting function.Four motorized wheels electricity
The yaw stability contorting of electrical automobile is not limited by action time, and turning to can intervene when starting.This yaw stable control mode
Yaw response dynamic property when can not only prevent vehicle understeer or oversteering, and can improve Vehicular turn.
At present, the emphasis of four motorized wheels electric car yaw stability contorting is yaw-rate tracking control algorithm, i.e.,
Design closed loop feedback control rule makes actual yaw rate tracking expect yaw-rate.In the driving cycle that speed is higher, steering angle is larger
Under, yaw tracing control occurs that side slip angle increases sharply, and causes vehicle to produce oversteering, vehicle unstability occurs and shows
As.During the reason for producing this phenomenon is yaw-rate tracing control, the yaw moment larger, additional due to expecting yaw-rate
Trailing wheel side force is set to reach saturation.Despite the presence of a variety of different expectation yaw-rate design methods, try hard to avoid expecting yaw-rate
It is larger generation oversteering phenomenon, but only rely on expectation yaw-rate prevent the mode of vehicle oversteering, on the one hand cause expect
Yaw-rate design is excessively difficult, and the change of another aspect vehicle parameter can also influence to expect yaw-rate value, therefore be difficult in practice
With realization.
The content of the invention
Oversteering is effectively prevented in order to solve to lack in four motorized wheels electric automobile yaw stable control process
The problem of method, the invention provides a kind of robust invariant set control method of anti-four motorized wheels electric car oversteering,
This method realizes the constraint to barycenter yaw-rate and side slip angle by robust invariant set control method, so that reaching prevented
Spend the control targe turned to.
The purpose of the present invention is achieved through the following technical solutions：
A kind of robust invariant set control method of anti-four motorized wheels electric car oversteering, comprises the following steps：
First, the rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle side force saturation is determined by experimental datam。
2nd, the control problem of anti-four motorized wheels electric car oversteering is converted into the constraint control of rear axle side drift angle to ask
Topic, i.e.,：αr≤αm。
The 3rd, rear axle tyre slip angle constrained to control problem is converted into vehicle centroid side drift angle β and yaw rate gamma represents
Control problem is constrained, i.e.,：
4th, takeWill 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 exceeds binding occurrence αm(αr＞ αm) space and rear axle tyre slip angle do not surpass
Go out binding occurrence αm(αr＜ αm) space.
5th, 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 ensureing closed-loop stabilization；
6th, as vehicle centroid side drift angle β and yaw rate gamma movement locus and constraint equationWhen intersecting, 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 invention has the advantages that：
1st, the present invention will constrain trailing wheel side force saturation as direct control targe, can solve yaw-rate tracing control mistake
Oversteering problem caused by trailing wheel side force saturation in journey, so as to prevent four motorized wheels electric car oversteering.
2nd, the present invention is in controller design, because the side force of wheel can be characterized by side drift angle, therefore will be to rear axle
The constraint of side 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 is represented, 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 barycenter
Side drift angle) constraint so that designing robust invariant set controller realizes constraint to barycenter yaw-rate and side slip angle, and then
Reaching prevents the control targe of oversteering.
Brief description of the drawings
Fig. 1 is the rear axle tyre slip angle binding occurrence α for determining anti-vehicle rear axle side force saturationmSchematic diagram；
Fig. 2 be the constraint equation that is represented by vehicle centroid side drift angle and yaw-rate will with vehicle centroid side drift angle abscissa,
Space using yaw-rate as ordinate is divided into two spaces schematic diagram；
Fig. 3 is the state trajectory and constraint equation for the system that formula (4) formula is describedA1 points are intersected to show
It is intended to；
Fig. 4 is the flow chart of inventive algorithm.
Embodiment
Technical scheme is further described below in conjunction with the accompanying drawings, but is not limited thereto, it is every to this
Inventive technique scheme is modified or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention, all should be covered
In protection scope of the present invention.
The invention provides a kind of robust invariant set control method of anti-four motorized wheels electric car oversteering, specifically
Implementation steps are as follows：
Step S1：The rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle side force saturation is determined by experimental datam。
As shown in Figure 1, rear axle side force and side drift angle are in non-linear relation, and with saturated characteristic.The α of determinationmTo be rear
Axle side force is close to rear axle tyre slip angle value during saturation.
Step S2：Rear axle tyre slip angle constraint equation is converted into the constraint that vehicle centroid side drift angle and yaw-rate are represented
Equation.
Rear axle side drift angle constraint equation is：
αr≤αm(1),
In formula, αrFor rear axle tyre slip angle.
Rear axle tyre slip angle αrRelation with side slip angle β and barycenter yaw rate gamma is：
In formula, lrFor the distance of barycenter to rear axle wheel；vxFor the longitudinal speed of barycenter.
Obtained the constraint equation of rear axle side drift angle being converted into vehicle centroid side drift angle and yaw-rate by formula (1) and (2)
The constraint equation of expression：
Step S3：TakeWill 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 exceeds binding occurrence αm(αr＞ αm) space and rear axle tyre slip angle do not surpass
Go out binding occurrence αm(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 ensureing closed-loop stabilization, comprise the following steps that：
(1) using side slip angle β and barycenter yaw rate gamma as state variable, x=(beta, gamma)T, interior outside wheel torque is poor
Δ T is used as controlled quentity controlled variable, u=Δs T, it is considered to system unmodelled dynamics w=[w1 w2]T, obtain single track lateral dynamic model
It is as follows：
Wherein：
In formula, m is complete vehicle quality, vxFor barycenter longitudinal velocity, IzFor the rotary inertia in vehicle z-axis direction at barycenter,
Cf,rFor the average cornering stiffness of antero posterior axis, lf,rFor the distance of antero posterior axis to barycenter, b is average wheelspan, and R is front wheel steering angle, and δ is
Front wheel steering angle, w1The error produced during to axle side force, w are converted for interior outside wheel lateral force2Turned round for interior outside wheel rolling
The error produced when square and the conversion of windage difference in torque are to axle side force.
(2) using the controller of any guarantee formula (4) closed-loop stabilization.
Step S5：When vehicle centroid side drift angle and yaw-rate movement locus and constraint equationWhen intersecting,
Constrained in using robust invariant set control method, and by vehicle centroid side drift angle and yaw-rate in friendship 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 points are intersected at, such as Fig. 3 institutes
Show.The coordinate for remembering A1 is (x10,x20)T, then the kinetics equation of A1 points be：
(2) coordinate transform
The state trajectory and constraint equation described when formula (4)When intersecting, if z1=x1-x10, x2=
x2-x20, then can be obtained by formula (4) and (5)：
Wherein, z=(z1,z2)T,
(3) robust invariant set is described
The system described for formula (6), ifz(t0) ∈ Ω,
And in control lawIn the presence of, have：
In formula, Ω is robust invariant set.
(4) robust invariant set controller is designed
The system described for formula (6), if there is positive definite symmetrical matrix X ∈ Rn×n, matrix Y ∈ Rm×n, scalar lambda ＞ 0, μ ＞
0 so that following LMI is set up：
And make P=X-1, K=YX-1, then robust invariant set controlled quentity controlled variable is obtained
Step S6：The robust invariant set controller that step S5 is designed carries out Vehicular yaw stability contorting.
By robust invariant set controlled quentity controlled variableWith the controlled quentity controlled variable u of formula (5)0It is added, obtains the stable control of yaw of anti-oversteering
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 car oversteering, it is characterised in that methods described
Step is as follows：
First, the rear axle tyre slip angle binding occurrence α of anti-vehicle rear axle side force saturation is determined by experimental datam；
2nd, the control problem of anti-four motorized wheels electric car oversteering is converted into rear axle side drift angle constraint control problem,
I.e.：αr≤αm；
3rd, rear axle tyre slip angle constraint control problem is converted into the constraint that vehicle centroid side drift angle β and yaw rate gamma are represented
Control problem, i.e.,：
4th, takeIt will be divided using vehicle centroid side drift angle β as abscissa using yaw rate gamma as the space of ordinate
For two spaces：Rear axle tyre slip angle exceeds binding occurrence αmSpace and rear axle tyre slip angle without departing from binding occurrence αmSky
Between；
5th, 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 ensureing closed-loop stabilization；
6th, as vehicle centroid side drift angle β and yaw rate gamma movement locus and constraint equationWhen intersecting, Shandong is designed
Rod 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 car oversteering according to claim 1, its
It is characterised by the step 5, it is as follows using the yaw-rate tracking and controlling method for ensureing closed-loop stabilization：
(1) using side slip angle β and barycenter yaw rate gamma as state variable, x=(beta, gamma)T, the poor Δ T works of interior outside wheel torque
For controlled quentity controlled variable, u=Δs T, it is considered to system unmodelled dynamics w=[w1 w2]T, obtain single track lateral dynamic model as follows：
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In formula, m is complete vehicle quality, vxFor barycenter longitudinal velocity, IzFor the rotary inertia in vehicle z-axis direction at barycenter, Cf,rFor
The average cornering stiffness of antero posterior axis, lf,rFor the distance of antero posterior axis to barycenter, b is average wheelspan, and R is front wheel steering angle, and δ is front-wheel
Steering angle, w1The error produced during to axle side force, w are converted for interior outside wheel lateral force2For interior outside wheel rolling moment of torsion and
The error produced when the conversion of windage difference in torque is to axle side force；
(2) using the controller of any guarantee formula (4) closed-loop stabilization.
3. the robust invariant set control method of anti-four motorized wheels electric car oversteering according to claim 2, its
It is characterised by 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 points are intersected at, A1 seat is remembered
It is designated as (x10,x20)T, then the kinetics equation of A1 points be：
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(2) when the state trajectory and constraint equation that formula (4) is describedWhen intersecting, if z1=x1-x10, x2=x2-
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Wherein, z=(z1,z2)T,
(3) ifz(t0) ∈ Ω, and in control lawEffect
Under, have：
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In formula, Ω is robust invariant set；
(4) if there is positive definite symmetrical matrix X ∈ Rn×n, matrix Y ∈ Rm×n, scalar lambda ＞ 0, μ ＞ 0 so that following LMI
Set up：
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Priority Applications (1)
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