The invention discloses a four-wheel independent steering system distributed control method based on an unknown input observer, and relates to the field of automobile four-wheel independent steering system control. According to the method, connection weights among four wheel steering intelligent agents are obtained through topological structures of the four wheel steering intelligent agents; the ideal yaw velocity and the ideal side slip angle of four wheels are determined through a four-wheel ideal yaw velocity calculation module and a multi-agent-based ideal side slip angle distributed estimation module; real-time yaw velocity and mass center side slip angles of four wheels are determined through a four-wheel yaw velocity and mass center side slip angle calculation module; the four-wheel independent steering system distributed control module based on the unknown input state observer is used for solving four wheel corners of the automobile; and outputting real-time motion state information of the automobile through the CarSim automobile model. According to the method, the calculation efficiency and the vehicle stability performance are effectively balanced, and the stability of steering control of the four-wheel independent steering vehicle under the condition that part of ideal states are unknown is improved.
基于未知输入观测器的四轮独立转向系统分布式控制方法涉及汽车四轮独立转向系统控制领域,该方法通过四个车轮转向智能体的拓扑结构获得四个车轮转向智能体之间的连接权值;通过四轮理想横摆角速度计算模块和基于多智能体的理想质心侧偏角分布式估计模块确定四个车轮理想的横摆角速度和质心侧偏角;通过四轮横摆角速度和质心侧偏角计算模块确定四个车轮实时的横摆角速度和质心侧偏角;通过基于未知输入状态观测器的四轮独立转向系统分布式控制模块求解出汽车的四个车轮转角;通过CarSim汽车模型输出汽车的实时运动状态信息。本发明有效权衡了计算效率和车辆稳定性能,提高了部分理想状态未知情况下四轮独立转向车辆转向控制的稳定性。
Distributed control method for four-wheel independent steering system based on unknown input observer
基于未知输入观测器的四轮独立转向系统分布式控制方法
2024-02-23
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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