Reconfigurable Integrated Coordination Control for Multi-Wheel Distributed Vehicles

doi:10.12382/bgxb.2022.0795

Abstract

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

CLC Number:

TJ301

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.

Figures/Tables 11

Fig.1 Dynamic model of the whole vehicle

Fig.2 Flow chart of integrated coordination control

Fig.3 Feasible region of WFV

Fig.4 Schematic diagram of RWPI

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

Fig.5 Results of slalom test

Fig.6 Tire force of slalom test

Fig.7 Results of forces at C.G.

Fig.8 Picture of prototype

Fig.9 Results of single lane change test

Fig.10 Results of torque after distribution

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