汽车工程学报2018，Vol.8Issue(2)：114-122,129,10.DOI:10.3969/j.issn.2095-1469.2018.02.06
滑移转向4WD车辆直接横摆力矩控制方法研究
A Direct Yaw Moment Control System for 4WD Skid-steering Vehicles
摘要
Abstract
This paper proposed an algorithm for the direct yaw moment control of 4WD skid-steering vehicles. An extended Kalman filter was used to estimate the vehicle dynamic parameters. The direct yaw moment of the skid-steering vehicle was calculated based on target speeds and steering radius and the optimum distribution of longitudinal tire forces was obtained in the design. The joint simulation results by using Carsim and Matlab/Simulink verified the accurate and real-time estimation of the vehicle variables. The control system can not only achieve the target vehicle movements while the real-time error remains within 5%, but also ensure the vehicle stability because the optimum distribution of longitudinal tire forces reduces the tire load rating effectively.关键词
滑移转向/扩展卡尔曼滤波/直接横摆力矩控制/纵向力优化分配Key words
skid-steering/extended Kalman filter/direct yaw moment control/tire longitudinal forces optimization distribution分类
交通工程引用本文复制引用
洪濡,胡广地..滑移转向4WD车辆直接横摆力矩控制方法研究[J].汽车工程学报,2018,8(2):114-122,129,10.基金项目
四川省科技支持计划"四轮独立驱动轮毂电机汽车控制系统关键技术研究及示范"(2016GZ0018) （2016GZ0018）
