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

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

Abstract

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

CLC Number:

U463.6

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.

Figures/Tables 12

References 26

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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

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

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

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

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