The electric wheel has an advantage of independently,accurately,and promptly controlling torque in response.However,current distributed drive steering control strategies fail to fully leverage this capability.To fill ...The electric wheel has an advantage of independently,accurately,and promptly controlling torque in response.However,current distributed drive steering control strategies fail to fully leverage this capability.To fill this gap,this paper proposes a composite electronic moment power steering(EMPS)control strategy for multi-axle distributed drive vehicles,based on dynamic modeling and analysis.The proposed control strategy integrates EMPS with direct yaw moment control(DYC),enhancing steering flexibility and fault tolerance in the steering system at low speeds,while also ensuring vehicle stability at high velocities.It adopts a hierarchical control architecture,wherein the upper controller utilizes a nonlinear state observer for the joint estimation of multi-objective parameters,and the lower controller is responsible for the accurate tracking of the steering angle by EMPS,the yaw rate tracking by DYC,and the assignment of weights to the composite controller.By establishing and analyzing a detailed vehicle model and an electric drive steering axle dynamics model,a multi-dimensional feasible domain for EMPS is proposed,ensuring the safety and smoothness of steering maneuvers.The co-simulation of MATLAB/Simulink and TruckSim are conducted to verify the effectiveness of the composite control strategy.The EMPS controller is proved to have robust steering angle tracking performance,with the𝛽−̇𝛽trajectory consistently converging within the stability zone,maintaining a sufficient margin for tire longitudinal force under the composite steering control.Additionally,real vehicle testing confirms the effectiveness of EMPS and the redundancy tolerance of the steering functionality in distributed drive multi-axle vehicles equipped with EMPS.展开更多
基金National Key R&D Program of China(2022YFE0100100 ,Nos.52002210)Young Elite Scientists Sponsorship Program by CAST(No.2021QNRC001)Tsinghua University postdoctoral program(Shuimu Tsinghua Scholar Program).
文摘The electric wheel has an advantage of independently,accurately,and promptly controlling torque in response.However,current distributed drive steering control strategies fail to fully leverage this capability.To fill this gap,this paper proposes a composite electronic moment power steering(EMPS)control strategy for multi-axle distributed drive vehicles,based on dynamic modeling and analysis.The proposed control strategy integrates EMPS with direct yaw moment control(DYC),enhancing steering flexibility and fault tolerance in the steering system at low speeds,while also ensuring vehicle stability at high velocities.It adopts a hierarchical control architecture,wherein the upper controller utilizes a nonlinear state observer for the joint estimation of multi-objective parameters,and the lower controller is responsible for the accurate tracking of the steering angle by EMPS,the yaw rate tracking by DYC,and the assignment of weights to the composite controller.By establishing and analyzing a detailed vehicle model and an electric drive steering axle dynamics model,a multi-dimensional feasible domain for EMPS is proposed,ensuring the safety and smoothness of steering maneuvers.The co-simulation of MATLAB/Simulink and TruckSim are conducted to verify the effectiveness of the composite control strategy.The EMPS controller is proved to have robust steering angle tracking performance,with the𝛽−̇𝛽trajectory consistently converging within the stability zone,maintaining a sufficient margin for tire longitudinal force under the composite steering control.Additionally,real vehicle testing confirms the effectiveness of EMPS and the redundancy tolerance of the steering functionality in distributed drive multi-axle vehicles equipped with EMPS.
