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Home > Archive>Volume 47, Issue 06, 2019 >0842-0850. DOI:10.11908/j.issn.0253-374x.2019.06.014
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Path Tracking Predictive Control of Four-wheel Independent Steering Electric Vehicle
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    Abstract:

    Four-wheel independent steering (4WIS) electric vehicle adopts the strategy of simultaneous steering of front and rear wheels; in this paper the dynamic model of the 4WIS electric vehicle is established, and the relevant state space expression is obtained, then the linear time-varying path tracking prediction model is derived. Control algorithm is transformed into standard quadratic programming problem based on model predictive control theory, combined with constraint conditions and optimization objective function. The 4WIS path tracking controller is designed. Then the Matlab/Carsim joint simulation platform is used to carry out the simulation test under double shift line conditions. Finally, the robustness of the control algorithm to speed and road conditions is verified, and the influence of controller parameters on the realtime performance of the algorithm is analyzed.

    Reference
    [1]肖志文.四轮独立驱动、独立转向电动汽车：用于路径控制的车辆动力学建模及分析 [D]. 同济大学, 2017.Xiao Zhiwen. Four-wheel Independent Drive, Independent Steering Electric Vehicle: Vehicle Dynamics Modeling and Analysis for Trajectory Control [D]. Tongji University, 2017.
    [2]A. Goodarzi, A. Sabooteh, E. Esmailzadeh, Automatic path control based on integrated steering and external yaw-moment control, Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics, 222(2):189–200, 2008.
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    [6]Peng Hang,Fengmei Luo,Shude Fang,Xinbo Chen. Path Tracking Control of a Four Wheel Independent Steering Electric Vehicle based on Model Predictive Control[A].Committee of Control Theory of China Automation Society. Proceedings of the 36th China Conference on Control (F) [C]. Committee of Control Theory of the Chinese Society of Automation: 2017:7.
    [7]张济民,张继彤,任利慧.摆式客车倾摆控制系统神经网络预测控制[J].同济大学学报(自然科学版)947-952.DOI:10.3321/j.issn:0253-374X.2006.07.020.ZHANG Jimin, ZHANG Jiyu, REN Lihui.Predictive control of tilting control system for pendulum-train buses based on neural network[J]. Journal of Tongji University(Natural Science), 2006,(7):947-952.DOI:10.3321/j.issn :0253-374X.2006.07.020.
    [8]胡长健.电动轮驱动车辆的驱动力助力转向技术研究[D].吉林大学, 2008.Hu Changjian. Research on power steering assisted by driving force of electric wheel driven vehicle[D]. Jilin University, 2008.
    [9]Falcone P,Tufo M,Borrelli F,et al.A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems[C]:IEEE,2008:2980-2985.
    [10]陈虹,刘志远,解小华.非线性模型预测控制的现状与问题[J].控制与决策,2001,(4):385-391. DOI:10.3321/j.issn:1001-0920.2001.04.001.Chen Hong, Liu Zhiyuan, Xie Xiaohua.Present Situation and Problems of Nonlinear Model Predictive Control[J].Control and Decision,2001,(4):385-391. DOI:10.3321/j.issn:1001-0920.2001.04.001.
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ZHOU Su, WU Nan, ZHI Xuelei. Path Tracking Predictive Control of Four-wheel Independent Steering Electric Vehicle[J].同济大学学报(自然科学版),2019,47(06):0842~0850

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History
  • Received:December 20,2018
  • Revised:April 28,2019
  • Adopted:April 01,2019
  • Online: July 03,2019
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