Abstract
For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of the four-in-wheel motor independent-drive vehicle (4MIDEV) is established comprehensively considering the differential steering dynamics characteristics, longitudinal dynamics characteristics, and lateral dynamics characteristics. Takagi Sugeno (T-S) fuzzy method is adopted to deal with the nonlinear and time-varying characteristics of the model parameters such as vehicle longitudinal speed and the front steering wheel angle. The trajectory tracking control targets are divided into the kinematic control target considering the trajectory tracking accuracy and the dynamics control target considering longitudinal speed tracking as well as lateral stability performance. The generalized $H_{2}$ norm and $H_{\infty }$ norm are selected to constrain the kinematic control target and the dynamics control target respectively. The generalized $H_{2}/H_{\infty }$ trajectory tracking controller is designed to improve the trajectory tracking accuracy and longitudinal speed tracking as well as lateral stability performance. The hardware in the loop test (HIL) verified that the designed trajectory tracking multi-objective controller can improve the comprehensive performance of vehicle and balance the trajectory tracking accuracy between the longitudinal and lateral dynamics performance.
Highlights
The four-in-wheel-motor independent-drive vehicle (4MIDEV) have the advantages of rapid torque response and flexible control, which has been studied widely and shown great potential in the vehicle active safety control, stability control and intelligent driving control [1], [2]
Those three controllers were designed for trajectory tracking accuracy, vehicle lateral stability and vehicle longitudinal speed tracking performance respectively, which increased the complexity of the control system
The trajectory tracking multi-objective controller for 4MIDEV with differential steering is studied in this paper
Summary
The four-in-wheel-motor independent-drive vehicle (4MIDEV) have the advantages of rapid torque response and flexible control, which has been studied widely and shown great potential in the vehicle active safety control, stability control and intelligent driving control [1], [2]. One of the problems is that the left-front and right-front wheel torque difference required for differential steering will generate additional yaw moments to vehicle, which will affect the lateral stability [8]. The sliding mode variable structure controller was designed to track the desired vehicle longitudinal speed based on the longitudinal dynamic characteristics, the model predictive controller was designed to ensure the trajectory tracking accuracy in [27], and the direct yaw moment control was adopted to ensure the vehicle lateral stability when tracking the trajectory. Those three controllers were designed for trajectory tracking accuracy, vehicle lateral stability and vehicle longitudinal speed tracking performance respectively, which increased the complexity of the control system. The motor’s rated power is 5 kw, the peak torque is 200 N · m, the peak speed is 780 r/min, and the rated voltage is 72 V
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