CN118082543A - Four-wheel steering control method of electric automobile based on steering gear ratio - Google Patents
Four-wheel steering control method of electric automobile based on steering gear ratio Download PDFInfo
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Abstract
The invention provides an electric automobile four-wheel steering control method based on a steering gear ratio, which comprises the following steps: acquiring vehicle parameter information; obtaining an ideal steering transmission ratio based on vehicle parameter information and a steady yaw rate gain formula, and designing a variable steering transmission ratio strategy based on a set vehicle speed threshold; smoothly fitting and data interpolating a variable steering gear ratio curve in a variable steering gear ratio strategy through a cubic quasi-uniform B spline to obtain an optimized variable steering gear ratio strategy; deriving a rapid self-adaptive supercoiled control algorithm based on vehicle parameter information, establishing a sliding mode surface based on the error of the actual yaw rate and the ideal yaw rate, and designing to obtain an equivalent sliding mode control law; based on the optimized variable steering transmission ratio strategy and the equivalent slip form control law, a four-wheel steering controller is established, and the steering angle of the four wheels of the automobile is controlled by the four-wheel steering controller. The invention can improve the sensitivity and stability of vehicle steering.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to an electric automobile four-wheel steering control method based on a steering gear ratio.
Background
With the rapid development of new energy automobiles, in order to improve the steering stability of the vehicles, the four-wheel steering technology gradually becomes a research focus in the field of automobile control. The four-wheel steering system is a system which can actively steer both front and rear wheels of the automobile, improves the steering stability of the automobile to a certain extent, has high sensitivity and quick response compared with the steering of the active front wheel, and has higher requirements on steering stability and steering flexibility.
At present, a passenger car generally adopts a fixed traditional steering transmission ratio, is large at low speed, is insensitive in steering and is not beneficial to the operation of a driver; the method is small at high speed, has high sensitivity and poor stability.
Disclosure of Invention
The invention aims to provide a steering gear ratio-based four-wheel steering control method for an electric automobile, which is used for improving the steering sensitivity and stability of the automobile.
A four-wheel steering control method of an electric automobile based on a steering gear ratio comprises the following steps:
Step 1, acquiring vehicle parameter information, wherein the vehicle parameter information comprises yaw rate, front wheel rotation angle, rear wheel rotation angle, longitudinal vehicle speed and steering wheel rotation angle of a vehicle;
step 2, obtaining an ideal steering transmission ratio based on the vehicle parameter information obtained in the step 1 and a steady yaw rate gain formula, and designing a variable steering transmission ratio strategy based on a set vehicle speed threshold;
Step 3, smoothly fitting and data interpolation are carried out on the variable steering gear ratio curve in the variable steering gear ratio strategy obtained in the step 2 through three quasi-uniform B splines, so that an optimized variable steering gear ratio strategy is obtained;
Step 4, deriving a rapid self-adaptive supercoiled control algorithm based on the vehicle parameter information obtained in the step1, establishing a sliding mode surface based on the error of the actual yaw rate and the ideal yaw rate, and designing to obtain an equivalent sliding mode control law;
and 5, establishing a four-wheel steering controller based on the optimized variable steering transmission ratio strategy obtained in the step 3 and the equivalent slip form control law obtained in the step 4, and controlling the steering angle of the four wheels of the automobile through the four-wheel steering controller.
According to the four-wheel steering control method of the electric automobile based on the steering transmission ratio, provided by the invention, the four-wheel steering control method has the following beneficial effects:
(1) The invention designs a variable steering transmission ratio (Variable steering ratio, VSR for short) strategy based on steady yaw rate gain, improves the sensitivity and stability of the vehicle during steering, and ensures that the vehicle obtains ideal steering characteristics;
(2) The invention adopts the cubic quasi-uniform B spline to optimize the variable transmission ratio curve, thereby improving the influence of the discontinuous transmission ratio curve at the critical vehicle speed on the steering performance and reducing the steering fluctuation;
(3) Based on a rapid self-adaptive supercoiled (FAST ADAPTIVE Super-Twisting, abbreviated as FAST) algorithm and a VSR strategy, the four-wheel steering controller is designed, so that the four-wheel steering electric automobile can well finish steering lane change, plays a role in tracking an expected centroid side deflection angle and an expected yaw rate, can remarkably improve the path tracking capability of the automobile, and further improves the stability of four-wheel steering.
Drawings
Fig. 1 is a flowchart of an electric vehicle four-wheel steering control method based on a steering gear ratio according to an embodiment of the present invention;
FIG. 2 is a graphical illustration of an ideal steering gear ratio;
FIG. 3 is a graphical representation of a designed variable steering ratio;
FIG. 4 is a schematic diagram of a fitted front-to-rear variable steering gear ratio curve;
FIG. 5 is a graph comparing centroid slip angle response;
FIG. 6 is a graph comparing yaw rate response;
fig. 7 is a graph showing a comparison of track following effects of the four-wheel steering controller.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an embodiment of the invention provides a four-wheel steering control method for an electric vehicle based on a steering gear ratio, which includes steps 1 to 5:
Step 1, acquiring vehicle parameter information, wherein the vehicle parameter information comprises yaw rate, front wheel rotation angle, rear wheel rotation angle, longitudinal vehicle speed and steering wheel rotation angle of a vehicle.
In the control process, a sensing sensor such as a camera, a millimeter wave radar and the like can be used for acquiring yaw rate, four-wheel rotation angle, longitudinal vehicle speed and steering wheel rotation angle values.
And 2, obtaining an ideal steering gear ratio based on the vehicle parameter information obtained in the step 1 and a steady yaw rate gain formula, and designing a variable steering gear ratio strategy based on a set vehicle speed threshold.
The steering gear ratio of a passenger car is generally regarded as a fixed value of 15:1 to 20:1, the transmission ratio is larger when the vehicle is at a low speed, and the steering operation is too slow, so that the operation of a driver is not facilitated; at high speed, the transmission ratio is smaller, the sensitivity is too high, and the stability and the safety are reduced. The variable steering gear ratio (Variable steering ratio, VSR for short) can solve the problem, improve the stability and balance of four-wheel steering, and ensure that the vehicle has the same steering sensitivity under different working conditions while not being unstable.
The ideal steering gear ratio curve is shown in fig. 2, the variable steering gear ratio strategy is designed according to the invention, and the designed variable steering gear ratio curve is shown in fig. 3.
Specifically, in step 2, an ideal steering gear ratio is obtained based on the vehicle parameter information and the steady yaw rate gain formula obtained in step 1, and the method specifically includes:
step 201, based on the vehicle parameter information obtained in the step 1, establishing a motion differential equation of a linear two-degree-of-freedom front wheel steering vehicle model;
Step 202: deriving a steady-state yaw rate gain formula based on a motion differential equation of the linear two-degree-of-freedom front wheel steering vehicle model established in the step 201;
step 203: calculating to obtain an ideal steering transmission ratio based on the steady yaw rate gain formula obtained in the step 202;
Step 204: based on the ideal variable steering gear ratio in step 203, an upper and lower vehicle speed threshold is set, and a variable steering gear ratio strategy is designed.
In step 201, the motion differential equation of the established linear two-degree-of-freedom front wheel steering vehicle model is as follows:
Wherein, For the whole car quality,/>For longitudinal speed of vehicle,/>Is the centroid slip angle,/>For/>Derivative of/(I)For yaw rate,/>、/>Lateral deflection rigidity of front and rear axles respectively,/>、/>Distance from center of mass of vehicle to front and rear axle respectively,/>Is the front wheel angle,/>For moment of inertia of the vehicle about the z-axis,/>For/>Is a derivative of (a).
In step 202, the steady-state yaw-rate gain formula is expressed as follows:
Wherein, Is steady state yaw rate gain,/>Is wheelbase,/>Is the vehicle stability factor.
Further, steering sensitivityThe expression of (2) is:
Wherein, Is an ideal steering transmission ratio;
The calculation formula for obtaining the ideal steering gear ratio is:
in the present embodiment, the steering sensitivity can be set 0.25S -1.
In the embodiment, the upper and lower speed thresholds are set to be lower than the lower speedSetting a variable steering gear ratio at 30km/h or less)=11; At high speed (/ >)80 Km/h) given a variable steering gear ratio/>=23, Specifically, the variable steering ratio strategy satisfies the following conditional expression:
Wherein, Representing a variable steering gear ratio.
And 3, smoothly fitting and data interpolation are carried out on the variable steering gear ratio curve in the variable steering gear ratio strategy obtained in the step 2 through three quasi-uniform B splines, so that the optimized variable steering gear ratio strategy is obtained.
As shown in fig. 4, fig. 4 is a graph of a variable steering gear ratio before and after fitting, and the curve is fitted to improve the influence caused by abrupt change at the critical vehicle speed, and step 3 specifically includes:
Step 301, defining three quasi-uniform B splines to obtain a basis function;
And 302, selecting node distribution parameters based on the basis function obtained in the step 301, and performing smooth fitting and data interpolation on the variable steering gear ratio curve to obtain an optimized variable steering gear ratio strategy.
And 4, deriving a rapid self-adaptive supercoiled control algorithm based on the vehicle parameter information obtained in the step1, establishing a sliding mode surface based on the error of the actual yaw rate and the ideal yaw rate, and designing to obtain an equivalent sliding mode control law.
The fast self-adaptive supercoiled algorithm is a self-adaptive supercoiled algorithm, linear terms are introduced into the supercoiled algorithm, the uncertainty boundary of a known system is not needed, and the convergence speed is improved. The step 4 specifically includes:
Step 401, based on the vehicle parameter information obtained in the step 1, establishing a two-degree-of-freedom four-wheel steering vehicle model motion equation;
Step 402, determining an ideal yaw rate based on a motion differential equation of the linear two-degree-of-freedom front wheel steering vehicle model established in step 201;
Step 403, selecting a yaw rate error as a tracking error of the system based on the vehicle parameter information obtained in step 1 and the ideal yaw rate determined in step 402, and defining a slip plane.
In step 401, the expression of the motion equation of the two-degree-of-freedom four-wheel steering vehicle model is established as follows:
Wherein, Is the rear wheel steering angle.
In order to ensure the stability of the vehicle running at high speed, the limit of road adhesion coefficient to the yaw rate of the vehicle is considered to determine the ideal yaw rateThe following formula is shown:
Wherein, Road adhesion coefficient,/>Gravitational acceleration,/>As a step function.
In the present embodiment, the actual yaw rateAnd ideal yaw rate/>Deviation/>As a tracking error, the following formula is shown:
Defined slip form surface The expression of (2) is:
。
And step 404, deriving a rapid self-adaptive supercoiled control algorithm based on the motion equation of the two-degree-of-freedom four-wheel steering vehicle model established in step 401 and the sliding mode surface defined in step 403, and designing to obtain an equivalent sliding mode control law.
In step 404, in the process of deriving the fast adaptive supercoiled control algorithm, the following conditional expression is satisfied:
Wherein, For control input,/>Is a sliding mode control item,/>For sliding mode switching item,/>In order to adjust the variables of the variable,For/>Derivative of/(I)、/>For the parameters to be designed,/>Is a sliding mode variable,/>、/>For and sliding mode variable/>Related sliding mode variable function,/>For/>Derivative of/(I)Is an adjustable parameter;
in step 404, the equivalent sliding mode control law satisfies the following conditional expression:
Wherein, For reference to front wheel angle,/>For/>Derivative of/(I)Is the steering wheel angle.
And 5, establishing a four-wheel steering controller based on the optimized variable steering transmission ratio strategy obtained in the step 3 and the equivalent slip form control law obtained in the step 4, and controlling the steering angle of the four wheels of the automobile through the four-wheel steering controller.
The step 5 specifically includes:
step 501, calculating to obtain a reference front wheel corner based on the optimized variable steering transmission ratio strategy obtained in step 3;
step 502, obtaining a rear wheel steering angle control law based on the equivalent sliding mode control law in step 4, establishing a four-wheel steering controller, calculating an additional rear wheel steering angle, and obtaining a corrected rear wheel steering angle based on the additional rear wheel steering angle;
Step 503, four-wheel steering control is performed on the vehicle based on the reference front wheel rotation angle obtained in step 501 and the corrected rear wheel rotation angle obtained in step 502.
In step 502, the calculation formula of the additional rear wheel steering angle is as follows:
Wherein, Representing additional rear wheel turns,/>、/>Representation and slip plane/>Related sliding mode variable functions.
The method provided in this embodiment is subjected to simulation test, which uses MatlabR2021b and carsim2019.0 versions, and uses a double-lane-shift working condition as a reference road input at a vehicle speed of 60km/h, and selects a road surface adhesion coefficient of 0.85, and four-wheel steering control effects of the present invention (VSR-FAST), a conventional sliding mode control method (VSR-SMC) and a conventional steering gear ratio control method (CSR-FAST) are respectively subjected to simulation comparison, so as to obtain centroid slip angle and yaw rate response comparison diagrams, as shown in fig. 5 and 6.
In the centroid slip angle response of fig. 5, the maximum centroid slip angle of VSR-FAST is 0.025rad, the maximum centroid slip angle of VSR-SMC is 0.031rad, and the maximum centroid slip angle of CSR-FAST is 0.027rad, which are optimized by 7.3% and 7.4% for centroid slip angles, respectively, as compared to VSR-SMC and CSR-FAST.
In the yaw-rate response of FIG. 6, the maximum deviation of VSR-FAST from the desired yaw-rate curve is 0.0091rad/s, the maximum deviation of VSR-SMC from the desired is 0.0344rad/s, the maximum deviation of CSR-FAST from the desired curve is 0.0474rad/s, and the degree of agreement between the actual yaw-rate at VSR-FAST and the desired yaw-rate curve is highest.
Further, as shown in fig. 7, through simulation verification, the invention can well complete the lane change work under the double-lane-shifting working condition, has small tracking error and basically coincides with the reference track.
In summary, according to the above-mentioned four-wheel steering control method of the electric automobile based on the steering gear ratio, the following beneficial effects are provided:
(1) The invention designs a variable steering transmission ratio (Variable steering ratio, VSR for short) strategy based on steady yaw rate gain, improves the sensitivity and stability of the vehicle during steering, and ensures that the vehicle obtains ideal steering characteristics;
(2) The invention adopts the cubic quasi-uniform B spline to optimize the variable transmission ratio curve, thereby improving the influence of the discontinuous transmission ratio curve at the critical vehicle speed on the steering performance and reducing the steering fluctuation;
(3) Based on a rapid self-adaptive supercoiled (FAST ADAPTIVE Super-Twisting, abbreviated as FAST) algorithm and a VSR strategy, the four-wheel steering controller is designed, so that the four-wheel steering electric automobile can well finish steering lane change, plays a role in tracking an expected centroid side deflection angle and an expected yaw rate, can remarkably improve the path tracking capability of the automobile, and further improves the stability of four-wheel steering.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. The four-wheel steering control method of the electric automobile based on the steering gear ratio is characterized by comprising the following steps of:
Step 1, acquiring vehicle parameter information, wherein the vehicle parameter information comprises yaw rate, front wheel rotation angle, rear wheel rotation angle, longitudinal vehicle speed and steering wheel rotation angle of a vehicle;
step 2, obtaining an ideal steering transmission ratio based on the vehicle parameter information obtained in the step 1 and a steady yaw rate gain formula, and designing a variable steering transmission ratio strategy based on a set vehicle speed threshold;
Step 3, smoothly fitting and data interpolation are carried out on the variable steering gear ratio curve in the variable steering gear ratio strategy obtained in the step 2 through three quasi-uniform B splines, so that an optimized variable steering gear ratio strategy is obtained;
Step 4, deriving a rapid self-adaptive supercoiled control algorithm based on the vehicle parameter information obtained in the step1, establishing a sliding mode surface based on the error of the actual yaw rate and the ideal yaw rate, and designing to obtain an equivalent sliding mode control law;
and 5, establishing a four-wheel steering controller based on the optimized variable steering transmission ratio strategy obtained in the step 3 and the equivalent slip form control law obtained in the step 4, and controlling the steering angle of the four wheels of the automobile through the four-wheel steering controller.
2. The four-wheel steering control method for the electric automobile based on the steering gear ratio according to claim 1, wherein in the step 2, the ideal steering gear ratio is obtained based on the vehicle parameter information and the steady yaw rate gain formula obtained in the step 1, and the method specifically comprises the following steps:
step 201, based on the vehicle parameter information obtained in the step 1, establishing a motion differential equation of a linear two-degree-of-freedom front wheel steering vehicle model;
Step 202: deriving a steady-state yaw rate gain formula based on a motion differential equation of the linear two-degree-of-freedom front wheel steering vehicle model established in the step 201;
step 203: calculating to obtain an ideal steering transmission ratio based on the steady yaw rate gain formula obtained in the step 202;
Step 204: based on the ideal variable steering gear ratio in step 203, an upper and lower vehicle speed threshold is set, and a variable steering gear ratio strategy is designed.
3. The four-wheel steering control method for an electric vehicle according to claim 2, wherein in step 202, the steady-state yaw rate gain formula is expressed as:
Wherein, Is steady state yaw rate gain,/>For longitudinal speed of vehicle,/>Is wheelbase,/>Is a vehicle stability factor;
in step 203, the calculation formula of the ideal steering gear ratio is:
Wherein, For ideal steering gear ratio,/>Is steering sensitivity;
In step 204, the variable steering ratio strategy satisfies the following conditional expression:
Wherein, Representing variable steering gear ratio,/>For the whole car quality,/>、/>Distance from center of mass of vehicle to front and rear axle respectively,/>、/>The lateral deflection rigidity of the front axle and the rear axle are respectively.
4. The method for controlling four-wheel steering of an electric vehicle based on a steering gear ratio according to claim 3, wherein the step 3 specifically comprises:
Step 301, defining three quasi-uniform B splines to obtain a basis function;
And 302, selecting node distribution parameters based on the basis function obtained in the step 301, and performing smooth fitting and data interpolation on the variable steering gear ratio curve to obtain an optimized variable steering gear ratio strategy.
5. The method for controlling four-wheel steering of an electric vehicle based on a steering gear ratio according to claim 4, wherein step 4 specifically comprises:
Step 401, based on the vehicle parameter information obtained in the step 1, establishing a two-degree-of-freedom four-wheel steering vehicle model motion equation;
Step 402, determining an ideal yaw rate based on a motion differential equation of the linear two-degree-of-freedom front wheel steering vehicle model established in step 201;
step 403, selecting a yaw rate error as a tracking error of the system based on the vehicle parameter information obtained in step 1 and the ideal yaw rate determined in step 402, and defining a sliding mode surface;
And step 404, deriving a rapid self-adaptive supercoiled control algorithm based on the motion equation of the two-degree-of-freedom four-wheel steering vehicle model established in step 401 and the sliding mode surface defined in step 403, and designing to obtain an equivalent sliding mode control law.
6. The method according to claim 5, wherein in step 403, a slip-form surface is definedThe expression of (2) is:
Wherein, For yaw rate,/>Is an ideal yaw rate;
In step 404, in the process of deriving the fast adaptive supercoiled control algorithm, the following conditional expression is satisfied:
Wherein, For control input,/>Is a sliding mode control item,/>For sliding mode switching item,/>To adjust the variables,/>Is thatDerivative of/(I)、/>For the parameters to be designed,/>Is a sliding mode variable,/>、/>For and sliding mode variable/>Related sliding mode variable function,/>As a step function,/>For/>Derivative of/(I)Is an adjustable parameter;
in step 404, the equivalent sliding mode control law satisfies the following conditional expression:
Wherein, For moment of inertia of the vehicle about the z-axis,/>Is the centroid slip angle,/>For reference to front wheel angle,/>For/>Derivative of/(I)Is the steering wheel angle.
7. The method for controlling four-wheel steering of an electric vehicle based on a steering gear ratio according to claim 6, wherein step 5 specifically comprises:
step 501, calculating to obtain a reference front wheel corner based on the optimized variable steering transmission ratio strategy obtained in step 3;
step 502, obtaining a rear wheel steering angle control law based on the equivalent sliding mode control law in step 4, establishing a four-wheel steering controller, calculating an additional rear wheel steering angle, and obtaining a corrected rear wheel steering angle based on the additional rear wheel steering angle;
Step 503, four-wheel steering control is performed on the vehicle based on the reference front wheel rotation angle obtained in step 501 and the corrected rear wheel rotation angle obtained in step 502.
8. The four-wheel steering control method for an electric vehicle according to claim 7, wherein in step 502, the additional rear wheel steering angle is calculated according to the following formula:
Wherein, Representing additional rear wheel turns,/>、/>Representation and slip plane/>Related sliding mode variable functions.
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