多轮分布式驱动车辆可重构集成协调控制方法

多轮分布式独立驱动平台运动控制技术的演进对提升特种无人车辆的快速机动性及操纵稳定性具有重要的战略意义，然而其底盘主动执行系统的故障率或相互干涉的可能性也大大增加。提出一种面向该平台的可重构集成协调控制方法，以实现车辆动力学性能的进一步提升。基于自顶向下的分层控制结构，在运动控制层引入考虑参数不确定性的自适应滑模控制器，以保证对车辆运动目标状态的准确跟踪，并生成所需的广义控制力；在控制分配层提出一种加权伪逆控制分配器，基于控制效率矩阵的零空间特性，在主动执行器饱和约束可行域内进行再分配修正，以完成从广义控制力到各车轮处轮胎力的优化分配，其中引入的配置矩阵与优化权重系数则分别实现对控制模型的重新配置以及分配目标的调节；通过设置主动执行器实现分配目标的执行。基于6×6分布式电驱动车辆原理样机，进行两种工况下的仿真和试验验证。研究结果表明，该控制器提升了多轮车辆在转向过程中的操纵稳定性，并获得了更高效更精准的多轮车辆驱动力分配控制效果。

Reconfigurable Integrated Coordination Control for Multi-Wheel Distributed Vehicles

The evolution of motion control technology of multi-wheel distributed independent drive platform plays an important strategic role in improving the fast maneuverability and handling stability of the special unmanned vehicles. However, at the same time, failure rate or the possibility of mutual interference of chassis active execution systems also greatly increases. To improve the performance of multi-wheel distributed drive vehicles, this paper proposed a reconfigurable integrated coordination control scheme. Considering parameter uncertainty, a sliding mode controller was introduced in the upper layer to track the reference and generate the required generalized control force. In the allocation layer, a weighted pseudo-inverse control distributor was proposed, and the configuration matrix and weight parameters were introduced to realize the model reconfiguration and adjustment of allocation target. Then the initial results were redistributed by analyzing the null-space of the control effectiveness matrix to avoid the premature saturation of the actuator. Finally, the optimal allocation from the center of gravity force vector to wheel force was completed. By setting the active executor, the implementation of the distribution target was achieved. The control distribution technology was verified by simulations and field tests based on the 6×6 distributed drive electric vehicle prototype. The results demonstrated the effectiveness and accuracy of the proposed method, which can achieve efficient, accurate, and stable drive distribution control of multi-wheel vehicles with improved steering stability and maneuverability.