the
技术领域technical field
本发明公开了一种应用于四轮全驱电动汽车的底盘主动安全集成控制系统动态解耦方法。The invention discloses a dynamic decoupling method for a chassis active safety integrated control system applied to a four-wheel full-drive electric vehicle.
背景技术Background technique
四轮全驱（four wheel drive, 4WD）电动汽车四轮独立驱动特性使得传统的底盘控制技术难以适应，同时四个驱动轮与转向系统共同作用，各自可以独立调节，也为汽车控制性能的提高提供了更大的空间；The four-wheel drive (4WD) four-wheel independent driving characteristics of electric vehicles make it difficult for traditional chassis control technology to adapt. At the same time, the four driving wheels and the steering system work together, each of which can be adjusted independently, which also contributes to the improvement of vehicle control performance. Provides more space;
在传统燃油汽车上，主动前轮转向控制已有较为成熟的应用，系统通过调节车辆的转向为汽车提供一个侧向补偿力，矫正汽车的质心侧偏角，提升车辆的操控性能；但对于四轮全区电动汽车来说，由于两前轮力矩独立控制，造成车辆转向系统与四轮牵引系统的关联更为直接，仅仅控制转向系统难以获得与传统汽车相媲美的的操控性能；In traditional fuel vehicles, active front wheel steering control has been relatively maturely applied. The system provides a lateral compensation force for the vehicle by adjusting the steering of the vehicle, corrects the side slip angle of the vehicle's center of mass, and improves the vehicle's handling performance; For an all-wheel electric vehicle, due to the independent control of the torque of the two front wheels, the relationship between the vehicle steering system and the four-wheel traction system is more direct, and it is difficult to obtain the control performance comparable to that of traditional vehicles only by controlling the steering system;
直接横摆力矩控制则调节车辆四轮牵引力，形成可变的横摆力矩，动态调节车辆的横摆运动，提高车辆稳定性，防止甩尾；The direct yaw moment control adjusts the four-wheel traction of the vehicle to form a variable yaw moment, dynamically adjusts the yaw movement of the vehicle, improves the stability of the vehicle, and prevents tail flicking;
两种控制系统均可提升车辆的操纵稳定性，主动前轮转向控制偏重于车辆操控性能的提高，而直接横摆力矩控制用于提高车辆稳定性更为有效，两者单独使用在四轮独立驱动电动汽车上，效果尚不尽人意，将两者集成在一起，构成底盘集成控制系统，两者互补，可使车辆获得更高的性能；Both control systems can improve the handling stability of the vehicle. The active front wheel steering control focuses on the improvement of vehicle handling performance, while the direct yaw moment control is more effective in improving vehicle stability. Both are used alone in four-wheel independent Driving electric vehicles, the effect is not satisfactory, the two are integrated together to form a chassis integrated control system, and the two complement each other to enable the vehicle to obtain higher performance;
由于车辆转向运动与车辆横摆运动不能独立调节，因此底盘集成控制系统存在较为严重的耦合现象，两个控制系统互相干扰，为解决这个问题，本发明在集成控制器后串联了一个解耦装置，采用神经网络算法减小两系统的相互耦合。Since the vehicle steering motion and vehicle yaw motion cannot be adjusted independently, there is a relatively serious coupling phenomenon in the chassis integrated control system, and the two control systems interfere with each other. In order to solve this problem, the present invention connects a decoupling device in series after the integrated controller , using the neural network algorithm to reduce the mutual coupling of the two systems.
当多个控制系统同时作用于汽车底盘时会产生耦合，因此需采用一种动态解耦方法来解决多个控制回路间的耦合问题。Coupling will occur when multiple control systems act on the vehicle chassis at the same time, so a dynamic decoupling method is needed to solve the coupling problem among multiple control loops.
发明内容Contents of the invention
本发明提供一种应用于四轮全驱电动汽车的底盘主动安全集成控制系统动态解耦方法，其目的一是构建一种用于四轮全驱电动汽车的底盘集成控制系统，提高车辆的操纵稳定性；二是实现底盘集成系统中各个控制回路的动态解耦，减小各控制回路间的相互干扰。The present invention provides a dynamic decoupling method for chassis active safety integrated control system applied to four-wheel full-drive electric vehicles. Stability; the second is to realize the dynamic decoupling of each control loop in the chassis integrated system, and reduce the mutual interference between each control loop.
本发明通过以下技术方案实现：The present invention is realized through the following technical solutions:
一种四轮全驱电动汽车底盘主动安全集成控制系统的动态解耦方法，其特征在于：该系统包括驾驶员操纵平台、姿态参数目标值生成单元、车辆质心侧偏角观测单元、横摆角速度传感器、姿态控制器、解耦补偿单元、主动前轮转向系统、转矩分配控制器、左前轮轮毂电机及其控制系统、右前轮轮毂电机及其控制系统、左后轮轮毂电机及其控制系统、右后轮轮毂电机及其控制系统。A dynamic decoupling method for an active safety integrated control system of a chassis of a four-wheel all-wheel drive electric vehicle, characterized in that the system includes a driver's control platform, an attitude parameter target value generation unit, a vehicle center of mass side slip angle observation unit, and a yaw rate Sensor, attitude controller, decoupling compensation unit, active front wheel steering system, torque distribution controller, left front wheel hub motor and its control system, right front wheel hub motor and its control system, left rear wheel hub motor and its control system Control system, right rear wheel hub motor and its control system.
所述的驾驶员操纵平台连接至姿态参数目标值生成单元，姿态参数目标值生成单元根据车辆驾驶指令及预置的车辆参数计算出保证车辆安全稳定的车辆质心侧偏角和横摆角速度。The driver's control platform is connected to the attitude parameter target value generation unit, and the attitude parameter target value generation unit calculates the side slip angle and yaw rate of the vehicle center of mass to ensure the safety and stability of the vehicle according to the vehicle driving command and the preset vehicle parameters.
所述的车辆质心侧偏角观测单元、横摆角速度传感器实时获取车辆的姿态。The vehicle center-of-mass side slip angle observation unit and the yaw rate sensor acquire the attitude of the vehicle in real time.
所述的姿态参数目标值生成单元和车辆质心侧偏角观测单元、横摆角速度传感器共同连至姿态控制器，姿态控制器生成前轮转向补偿量及横摆力矩补偿量的目标值，动态调节车辆姿态。The attitude parameter target value generation unit, the vehicle center of mass side slip angle observation unit, and the yaw rate sensor are jointly connected to the attitude controller, and the attitude controller generates the target values of the front wheel steering compensation amount and the yaw moment compensation amount, and dynamically adjusts Vehicle attitude.
所述的转矩分配控制器根据姿态控制器输出的横摆转矩补偿量计算出四轮牵引电机各自的转矩目标值。The torque distribution controller calculates respective torque target values of the four-wheel traction motors according to the yaw torque compensation outputted by the attitude controller.
所述的转矩分配控制器连接左前轮轮毂电机及其控制系统，右前轮轮毂电机及其控制系统，左后轮轮毂电机及其控制系统，右后轮轮毂电机及其控制系统，四轮电机牵引控制系统控制四个牵引电机的转矩动态跟踪转矩分配控制器输出的电机转矩目标值。The torque distribution controller is connected to the hub motor of the left front wheel and its control system, the hub motor of the right front wheel and its control system, the hub motor of the left rear wheel and its control system, the hub motor of the right rear wheel and its control system, four The wheel motor traction control system controls the torque of the four traction motors to dynamically track the motor torque target value output by the torque distribution controller.
作为一种优选方案，所述的四轮全驱电动汽车底盘主动安全集成控制系统的动态解耦方法，其特征在于：解耦补偿单元包括正向解耦控制器和权重生成器。As a preferred solution, the dynamic decoupling method of the chassis active safety integrated control system of the four-wheel all-wheel drive electric vehicle is characterized in that the decoupling compensation unit includes a forward decoupling controller and a weight generator.
作为一种优选方案，所述的四轮全驱电动汽车底盘主动安全集成控制系统的动态解耦方法，其特征在于：解耦控制器的构造采用4个输入节点和两个输出节点组成动态神经网络，其中输入节点中包含两个积分器，正向解耦控制器为神经网络的正向过程，权重生成器为神经网络的逆向权值调整过程。As a preferred solution, the dynamic decoupling method of the active safety integrated control system of the four-wheel all-wheel drive electric vehicle chassis is characterized in that: the structure of the decoupling controller uses four input nodes and two output nodes to form a dynamic neural network. The network includes two integrators in the input node, the forward decoupling controller is the forward process of the neural network, and the weight generator is the reverse weight adjustment process of the neural network.
与上述四轮全驱电动汽车底盘主动安全集成控制解耦装置配套的控制方法，可按如下步骤依次执行： The control method matched with the active safety integrated control decoupling device for the chassis of the above-mentioned four-wheel all-wheel drive electric vehicle can be executed sequentially according to the following steps:
（1）驾驶员操纵平台将司机操纵指令转换成两个信号输出，即车辆的目标速度V和目标转角 ；(1) The driver's manipulation platform converts the driver's manipulation instructions into two signal outputs, namely the target speed V of the vehicle and the target corner ;
（2）姿态参数目标值生成单元根据车辆的目标速度V和目标转角及内置的车辆参数计算出姿态参数质心侧偏角β和横摆角速度γ的目标值，作为姿态控制器的给定信号β*和γ*；(2) The attitude parameter target value generation unit is based on the vehicle's target speed V and target rotation angle and the built-in vehicle parameters to calculate the target values of the attitude parameters, the side slip angle β and the yaw rate γ, as the given signals β* and γ* of the attitude controller;
（3）车辆质心侧偏角观测单元根据四轮牵引电机电流传感器测得的电机电流及车辆前轮转向角，实时观测质心侧偏角；(3) The side slip angle observation unit of the vehicle center of mass observes the side slip angle of the center of mass in real time according to the motor current measured by the four-wheel traction motor current sensor and the steering angle of the front wheels of the vehicle;
（4）质心侧偏角β的观测值和横摆角速度传感器测得的横摆角速度γ测量值作为两个姿态参数的实时信号，成为姿态控制器的反馈量，姿态控制器根据给定信号和反馈量的偏差计算出控制输出——质心侧偏角及横摆角速度的目标变化量和；(4) The observed value of the side slip angle β of the center of mass and the measured value of the yaw rate γ measured by the yaw rate sensor are used as real-time signals of two attitude parameters, which become the feedback quantity of the attitude controller. The deviation of the feedback amount is used to calculate the control output—the sum of the target change amount of the side slip angle of the center of mass and the yaw rate;
（5）权重生成器根据质心侧偏角β和横摆角速度的实时信号和目标值得到正向解耦控制器的权值；由姿态控制器计算输出两个控制信号和，和与和的积分形成正向解耦控制器的四个输入量，在正向解耦控制器中进行加权求和，得到控制输出转角补偿和横摆力矩补偿；(5) The weight generator obtains the weight value of the forward decoupling controller according to the real-time signal and target value of the side slip angle β and the yaw rate; the attitude controller calculates and outputs two control signals and ,and The integral of sum and sum forms the four input quantities of the forward decoupling controller, and performs weighted summation in the forward decoupling controller to obtain the control output rotation angle compensation and yaw moment compensation;
（6）转角补偿控制经主动前轮转向系统动态调节前轮转向角；(6) Corner compensation control dynamically adjusts the front wheel steering angle through the active front wheel steering system;
（7）转矩分配控制器通过优化，由横摆转矩补偿量计算出四个轮毂电机转矩的目标值；(7) The torque distribution controller is optimized to calculate the target values of the torque of the four hub motors from the yaw torque compensation amount;
（8）四轮电机牵引系统控制电机动态跟踪转矩的目标值。(8) The four-wheel motor traction system controls the target value of the dynamic tracking torque of the motor.
主动前轮转向控制和直接横摆力矩控制同时集成于汽车底盘可有效提高车辆的操纵稳定性，而串联其后的动态解耦控制器则降低了主动前轮转向控制和直接横摆力矩控制两系统的相互耦合干扰，更好地提升了车辆的操纵稳定性。The simultaneous integration of active front wheel steering control and direct yaw moment control in the vehicle chassis can effectively improve the handling stability of the vehicle, while the dynamic decoupling controller connected in series reduces the duality of active front wheel steering control and direct yaw moment control. The mutual coupling interference of the system better improves the handling stability of the vehicle.
附图说明：Description of drawings:
图1为本发明的四轮独立全驱电动汽车底盘集成控制系统结构示意图；Fig. 1 is the structural representation of the chassis integrated control system of four-wheel independent all-drive electric vehicle of the present invention;
图2为解耦控制器结构示意图；Fig. 2 is a schematic structural diagram of a decoupling controller;
附图标记说明：Explanation of reference signs:
1.驾驶员操纵平台2.车辆质心侧偏角观测单元3.横摆角速度传感器4.姿态参数目标值生成单元5.姿态控制器6.解耦补偿单元7主动前轮转向系统8.转矩分配控制器9.左前轮轮毂电机及其控制系统10.右前轮轮毂电机及其控制系统11.左后轮轮毂电机及其控制系统12.右后轮轮毂电机及其控制系统13.积分器14.积分器16.正向解耦控制器15.权重生成器。1. Driver control platform 2. Vehicle center of mass side slip angle observation unit 3. Yaw rate sensor 4. Attitude parameter target value generation unit 5. Attitude controller 6. Decoupling compensation unit 7 Active front wheel steering system 8. Torque Distribution controller 9. Left front wheel hub motor and its control system 10. Right front wheel hub motor and its control system 11. Left rear wheel hub motor and its control system 12. Right rear wheel hub motor and its control system 13. Integral 14. Integrator 16. Forward decoupling controller 15. Weight generator.
具体实施方式：Detailed ways:
驾驶员操纵平台（1）输出司机操纵指令：车辆目标速度V和目标转角 ，利用姿态参数目标值生成单元（4）生成姿态参数质心侧偏角β和横摆角速度γ的目标值，作为姿态控制器的给定信号β*和γ*，反馈量为车辆质心侧偏角观测单元（2）实时获取质心侧偏角β的观测值和横摆角速度传感器（3）输出横摆角速度γ实测量，通过姿态控制器（5）得到控制输出——质心侧偏角及横摆角速度的目标变化量。The driver's manipulation platform (1) outputs the driver's manipulation commands: vehicle target speed V and target corner , using the attitude parameter target value generating unit (4) to generate the target values of the attitude parameter sideslip angle β and yaw rate γ, which are used as the given signals β* and γ* of the attitude controller, and the feedback amount is the sideslip angle of the vehicle center of mass The observation unit (2) obtains the observed value of the side slip angle β in real time and the yaw rate sensor (3) outputs the actual measurement of the yaw rate γ, and obtains the control output through the attitude controller (5) - the side slip angle of the center of mass and yaw Target change in angular velocity.
权重生成器（15）根据整车姿态参数和目标值得到正向解耦控制器（16）的权值；The weight generator (15) obtains the weight of the forward decoupling controller (16) according to the attitude parameters of the vehicle and the target value;
由姿态控制器（5）的两个输出和分别经过两个积分器形成正向解耦控制器（16）的四个输入量，在正向解耦控制器（16）中进行加权求和，计算出车辆转向角补偿量及横摆力矩补偿量；The two outputs of the attitude controller (5) and the four input quantities of the forward decoupling controller (16) are formed through two integrators respectively, and the weighted summation is performed in the forward decoupling controller (16), Calculate the vehicle steering angle compensation amount and yaw moment compensation amount;
主动前轮转向系统（7）根据转角补偿量进行动态调节；The active front wheel steering system (7) is dynamically adjusted according to the angle compensation;
横摆力矩补偿则通过转矩分配控制器（8），分别生成四个轮毂电机的转矩目标值Tq1、Tq2、Tq3、Tq4；The yaw moment compensation generates the torque target values Tq1, Tq2, Tq3, Tq4 of the four in-wheel motors respectively through the torque distribution controller (8);
四轮电机牵引控制系统（9）（10）（11）（12）分别控制四个牵引电机的转矩动态跟踪转矩目标值Tq1、Tq2、Tq3、Tq4。The four-wheel motor traction control system (9) (10) (11) (12) respectively controls the torque of the four traction motors to dynamically track the torque target values Tq1, Tq2, Tq3, and Tq4.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310494776.9ACN104554255A (en) | 2013-10-22 | 2013-10-22 | Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310494776.9ACN104554255A (en) | 2013-10-22 | 2013-10-22 | Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis |
| Publication Number | Publication Date |
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| CN104554255Atrue CN104554255A (en) | 2015-04-29 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201310494776.9APendingCN104554255A (en) | 2013-10-22 | 2013-10-22 | Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20150429 |