新型巡检车辆侧向行驶稳定性的鲁棒性分析与控制

doi:10.11996/JG.j.2095-302X.2025010170

图学学报 ›› 2025, Vol. 46 ›› Issue (1): 170-178.DOI: 10.11996/JG.j.2095-302X.2025010170

• 计算机图形学与虚拟现实 • 上一篇下一篇

新型巡检车辆侧向行驶稳定性的鲁棒性分析与控制

倪利伟¹^,²(), 吴量², 姜宏生¹, 邢彪²

1.河南工程学院机械工程学院，郑州河南 451191
2.吉林大学汽车仿真与控制国家重点实验室，吉林长春 130012

收稿日期:2024-05-21 接受日期:2024-10-23 出版日期:2025-02-28 发布日期:2025-02-14
第一作者:倪利伟(1987-)，男，讲师，博士。主要研究方向为车辆行驶稳定性控制。E-mail：hauenlw@haue.edu.cn
基金资助:
国家自然科学基金(51705185);吉林大学汽车仿真与控制国家重点实验室开放基金(20210221);吉林省自然科学基金(YDZJ202101ZVTS190)

Robustness analysis and control of lateral driving stability of novel inspection vehicle

NI Liwei¹^,²(), WU Liang², JIANG Hongsheng¹, XING Biao²

1. College of Mechanical Engineering, Henan University of Engineering, Zhengzhou Henan 451191, China
2. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun Jilin 130012, China

Received:2024-05-21 Accepted:2024-10-23 Published:2025-02-28 Online:2025-02-14
First author：NI Liwei (1987-), lecturer, Ph.D. His main research interests cover the vehicle driving stability control. E-mail：hauenlw@haue.edu.cn
Supported by:
National Natural Science Foundation of China(51705185);Open Foundation of State Key Laboratory of Automotive Simulation and Control(20210221);Natural Science Foundation of Jilin Province(YDZJ202101ZVTS190)

摘要/Abstract

摘要：

传统车辆在面对不确定干扰时，车辆质心侧偏角与横摆角速度易偏离理想值，导致整车侧向行驶稳定性恶化。为提高车辆在不确定干扰下的侧向行驶稳定性与鲁棒性。首先基于一体化动力学模型、序列二次规划法以及自适应滑膜控制算法(ASMC)搭建了整车行驶稳定性分层协同控制策略(HCC)。其次基于线控转向、线控驱动以及线控制动设计了一款新型四轮转向-分布式驱动巡检车辆(FSDDIV)。最后基于Simulink与Carsim进行不确定干扰下的车辆侧向行驶稳定性联合仿真分析。结果表明，相比于常用的平均分配法(ADM)，该HCC控制策略的控制效果表现更佳，在面对不确定行驶工况、不确定行驶车速以及系统参数不确定性时，车辆质心侧偏角与横摆角速度的最大偏离误差改善比例分别达到了75.5%与84.8%，72.8%与86.0%，71.0%与83.8%，且整体上优于同类的分层线性二次型最优控制理论(HLQR)。该控制策略对不确定干扰表现不敏感，呈现较好的鲁棒性与稳定的控制效果，能够适应多工况的巡检任务。

关键词: 巡检车辆, 四轮转向-分布式驱动, 侧向稳定性, 分层协同控制策略, 鲁棒性分析

Abstract:

Traditional vehicles often experience deviations in sideslip angle and yaw rate from their ideal values when subjected to uncertain disturbances, resulting in a degradation of the lateral driving stability of the vehicle. To enhance the lateral driving stability and robustness of vehicles under such conditions, firstly, a hierarchical collaborative control strategy (HCC) with strong robustness was proposed based on integrated dynamic model, the sequential quadratic programming method, and the adaptive sliding mode control algorithm (ASMC). Secondly, a novel four-wheel steering and distributed drive inspection vehicle (FSDDIV) was designed based on steering-by-wire, drive-by-wire, and brake-by-wire. Finally, the lateral driving stability analysis based on Simulink and Carsim was carried out. The results demonstrated that compared with ADM control strategy, the proposed HCC control strategy exhibited better control performance. When faced different driving conditions, different driving speeds, and system parameters uncertainty, the improvement ratio of maximum deviation errors of the sideslip angle and yaw rate reached 75.5% and 84.8%, 72.8% and 86.0%, and 71.0% and 83.8%, respectively. In addition, the HCC strategy exhibited better overall performance compared to the similar HLQR control theory. In summary, the proposed control strategy is insensitive to uncertain disturbances, delivering robust and stable control effects, making it well-suited for inspection tasks under different working conditions.

Key words: inspection vehicle, four wheel steering and distributed drive, lateral stability, hierarchical collaborative control, robustness analysis

中图分类号:

U463.6

倪利伟, 吴量, 姜宏生, 邢彪. 新型巡检车辆侧向行驶稳定性的鲁棒性分析与控制[J]. 图学学报, 2025, 46(1): 170-178.

NI Liwei, WU Liang, JIANG Hongsheng, XING Biao. Robustness analysis and control of lateral driving stability of novel inspection vehicle[J]. Journal of Graphics, 2025, 46(1): 170-178.

图/表 12

图1 FSDDIV一体化动力学模型

Fig. 1 Integrated dynamic model of FSDDIV

图2 分层架构控制器

Fig. 2 Hierarchical controller

图3 FSDDIV三维模型

Fig. 3 3D model of FSDDIV

表1 FSDDIV部分参数

Table 1 Partial parameters of FSDDIV

参数	单位	数值
整车质量	kg	720
车身尺寸(长×宽)	mm	3250×1675
轴距	mm	2 000
最大载荷	kg	1 000
最大爬坡度	%	20
最小转弯半径	mm	3 500

图4 联合仿真模型

Fig. 4 Co-simulation model

图5 连续弯道工况仿真结果((a)质心侧偏角；(b)横摆角速度；(c)四轮转角)

Fig. 5 Simulation results of the continuous curve driving condition ((a) Sideslip angle; (b) Yaw rate; (c) Four-wheel steering angle)

表2 路况不确定仿真结果对比

Table 2 Comparison of simulation results for uncertain road condition

不同工况	性能指标	不同控制方法			相对ADM的改善比例/%
不同工况	性能指标	ADM	HCC	HLQR	HCC	HLQR
连续弯道	质心侧偏角最大误差绝对值	0.024 1/rad	0.005 9/rad	0.006 4/rad	75.5	73.4
连续弯道	横摆角速度最大误差绝对值	0.115 7/(rad/s)	0.017 6/(rad/s)	0.014 2/(rad/s)	84.8	87.7
阶跃输入	质心侧偏角最大误差绝对值	0.025 2/rad	0.006 0/rad	0.006 9/rad	76.2	72.6
阶跃输入	横摆角速度最大误差绝对值	0.124 1/(rad/s)	0.013 1/(rad/s)	0.021 0/(rad/s)	89.4	83.1

图6 阶跃工况仿真结果((a)质心侧偏角；(b)横摆角速度；(c)四轮转角)

Fig. 6 Simulation results of the step driving condition ((a) Sideslip angle; (b) Yaw rate; (c) Four-wheel steering angle)

图7 车速不确定仿真结果((a)质心侧偏角；(b)横摆角速度；(c)四轮转角)

Fig. 7 Simulation results of uncertain driving speed ((a) Sideslip angle; (b) Yaw rate; (c) Four-wheel steering angle)

表3 车速不确定仿真结果对比

Table 3 Comparison of simulation results for uncertain driving speed

性能指标	不同控制方法			相对ADM的改善比例/%
性能指标	ADM	HCC	HLQR	HCC	HLQR
质心侧偏角最大误差绝对值	0.022 4/rad	0.006 1/rad	0.008 0/rad	72.8	64.3
横摆角速度最大误差绝对值	0.102 8/(rad/s)	0.014 4/(rad/s)	0.027 0/(rad/s)	86.0	73.7

图8 参数不确定仿真结果((a)质心侧偏角；(b)横摆角速度；(c)四轮转角)

Fig. 8 Simulation results of uncertain system parameters ((a) Sideslip angle; (b) Yaw rate; (c) Four-wheel steering angle)

表4 参数不确定仿真结果对比

Table 4 Comparison of simulation results of uncertain system parameters

参数波动范围	质心侧偏角最大误差绝对值/rad	相对ADM的改善比例/%	参数波动范围	横摆角速度最大误差绝对值/(rad/s)	相对ADM的改善比例/%
ADM	0.024 1	-	ADM	0.115 7	-
HCC+(-20%)Izk	0.004 7	80.5	HCC+(-20%)Izk	0.018 7	83.8
HCC+(0%)Izk	0.005 9	75.5	HCC+(0%)Izk	0.017 6	84.8
HCC+(+20%)Izk	0.007 0	71.0	HCC+(+20%)Izk	0.023 3	79.9

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新型巡检车辆侧向行驶稳定性的鲁棒性分析与控制

Robustness analysis and control of lateral driving stability of novel inspection vehicle

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