有人驾驶AWID-AWIS车辆动力学控制研究

全轮独立驱动-独立转向车辆(all-wheel-independent-drivesteering vehicle,AWID-AWIS)的全部车轮均可独立驱动/制动、独立转向,具有驱动冗余,其运动控制一般采用分层控制方法实现。针对有人驾驶AWID-AWIS车辆中的整车动力学控制问题,以驾驶员意图和参考模型产生控制目标,使用扩张状态观测器(expanded state observation,ESO)实时估计系统的"内扰"和"外扰",设计车辆动力学自抗扰控制器(active disturbance rejection control,ADRC);对不同驾驶意图下的车辆运动进行控制仿真,讨论系统控制能力对驾驶意图的约束问题,指出消解驾驶意图与控制能力冲突的必要性和工作方向。

On manned AWID-AWIS vehicle dynamics control

As an essential characteristic, control-redundancy makes the AWID-AWIS (All-Wheel-Independent-Drive & Steering) vehicle dynamics control generally realized by the hierarchical control method. In this paper, the body dynamics control of the manned AWID-AWIS vehicle was studied. First, the driver' s intention and reference model were used to produce control targets. Then the extended state observer (ESO) was used to estimate the "internal disturbance" and "external disturbance" in real-time, and the vehicle dynamics active disturbance rejection controller (ADRC) was subsequently designed. Third, the vehicle' s mo-tions under different conditions were simulated, and the problems between the system' s control ability restrictions and the driver' s intentions were discussed. The necessity and future work direction of solving the problems were also pointed out.