多轮分布式驱动车辆可重构集成协调控制方法

doi:10.12382/bgxb.2022.0795

摘要/Abstract

摘要：

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。

关键词: 多轮分布式车辆, 集成协调控制, 再分配加权伪逆算法, 可重构控制分配法

Abstract:

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.

Key words: multi-wheeled distributed vehicle, integrated coordination control, redistributive weighted pseudo-inverse algorithm, reconfigurable control allocation

中图分类号:

TJ301

李斐然, 张雨甜, 魏超, 胡纪滨, 吴维. 多轮分布式驱动车辆可重构集成协调控制方法[J]. 兵工学报, 2023, 44(1): 260-269.

LI Feiran, ZHANG Yutian, WEI Chao, HU Jibin, WU Wei. Reconfigurable Integrated Coordination Control for Multi-Wheel Distributed Vehicles[J]. Acta Armamentarii, 2023, 44(1): 260-269.

图/表 11

图1 整车动力学模型

Fig.1 Dynamic model of the whole vehicle

图2 集成协调控制框图

Fig.2 Flow chart of integrated coordination control

图3 车轮子矢量可行域

Fig.3 Feasible region of WFV

图4 再分配伪逆算法流程图

Fig.4 Schematic diagram of RWPI

表1 车辆系统参数

Table 1 Vehicle system parameters

参数	数值
整车质量/kg	1550
轮胎半径/m	0.229
质心到各轴间距离/m	1.4/0.1/1.6
轮距/m	1.8
转动惯量/(kg·m²)	1665
车轮转动惯量/(kg·m²)	1.3
电机最大力矩/(N·m)	70

图5 加速蛇形工况实验结果

Fig.5 Results of slalom test

图6 加速蛇形工况轮胎力

Fig.6 Tire force of slalom test

图7 加速蛇形工况质心力

Fig.7 Results of forces at C.G.

图8 原理样机

Fig.8 Picture of prototype

图9 单移线工况试验结果

Fig.9 Results of single lane change test

图10 主动转矩试验结果

Fig.10 Results of torque after distribution

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