基于主动前轮转向与直接横摆力矩控制的自适应巡航控制OA
Research on adaptive cruise control based on active front steering and direct yaw-moment control
针对四轮独立驱动电动汽车(four-wheel independent drive electric vehicle,4WIDEV)的构型,开发了一种融合主动前轮转向(active front steering,AFS)与直接横摆力矩控制(direct yaw-moment control,DYC)的自适应巡航控制系统.该系统基于双层控制架构,上层控制器采用模型预测控制(model predictive control,MPC)策略,精确追踪车辆的期望纵向力和附加横摆力矩;下层控制器则利用AFS和DYC的控制冗余性,优化计算前轮的附加转角和四轮的转矩分配,以提升车辆的稳定性和能量经济性.仿真结果表明,相较于传统的平均转矩分配策略,本集成控制策略在确保车辆稳定性的同时,可实现最高13.23%的能耗优化效果.相关研究成果为提升四轮独立驱动电动汽车的综合性能提供了新的思路.
For four-wheel independent drive electric vehicles(4WIDEVs),an adaptive cruise control system integrating active front steering(AFS)and direct yaw-moment control(DYC)is developed.The system employs a dual-layer control architecture:the upper-level controller employs model predictive control(MPC)to track the vehicle's desired longitudinal force and additional yaw moment,while the lower-level controller utilizes the redundancy of AFS and DYC to optimize the front wheel steering angles and torque distribution across all four wheels.This integrated approach enhances both vehicle stability and energy efficiency.Simulation results indicate that,compared to conventional average torque distribution strategies,the proposed control strategy achieves up to 13.23％energy savings while maintaining stability.The study offers insights into enhancing the overall performance of 4WIDEVs.
叶子墨;姚初阳;傅春耘
重庆大学 机械与运载工程学院,重庆 400044重庆大学 机械与运载工程学院,重庆 400044重庆大学 机械与运载工程学院,重庆 400044
交通工程
自适应巡航控制主动前轮转向直接横摆力矩控制四轮独立驱动电动汽车模型预测控制
adaptive cruise controlactive front steeringdirect yaw-moment controlfour-wheel independent drive electric vehiclemodel predictive control
《重庆大学学报》 2026 (5)
43-59,17
重庆市自然科学基金创新发展联合基金资助项目(CSTB2023NSCQ-LZX0169).Supported by Natural Science Foundation Innovation and Development Joint Fund Project of Chongqing(CSTB2023NSCQ-LZX0169).
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