智能电动车辆横纵向协调与重构控制

针对具有高度非线性、强耦合和冗余特性的智能电动车辆运动控制问题,提出了一种由协调控制律和控制分配律组成的横纵向综合控制新方法.首先,建立准确表征智能电动车辆行为机理的动力学模型;其次,采用非奇异滑模控制技术,引入非线性滑动模态切换面,设计有效克服非线性及不确定特性的协调控制律,保证系统状态在有限时间内收敛至平衡点;在此基础上,考虑到轮胎存在冗余和耦合特性,提出基于内点法的控制分配算法来完成期望广义力/力矩的优化分配,实现轮胎横纵向力的协调与重构.仿真结果表明了该方法的有效性.

Cooperative and reconfigurable lateral and longitudinal control of intelligent electric vehicles

A novel integrated lateral and longitudinal control method consisting of an upper coordinated control law and a lower control allocation law, is developed for the intelligent electric vehicles with high nonlinearity, strong coupling and redundancy. Firstly, a dynamical model which can accurately reflect the behavior and mechanism of intelligent electric vehicles is built. Secondly, an upper coordinated control law which can effectively tackle with the nonlinear and uncertain characteristics is designed by non-singular terminal sliding mode technology, and the finite-time convergence of the system states is guaranteed. On this basis, considering the redundant and coupled properties of tires, a lower control allocation algorithm based on interior point method is proposed to optimally allocate the expected generalized forces/moment through coordinating and reconstructing the lateral and longitudinal tire forces. Simulation results are provided to demonstrate the effectiveness of the proposed strategy.