Coordinated control of trajectory tracking and yaw stability for 8 × 8 distributed drive electric vehicles
摘要
Aiming at the problem that it is difficult to coordinate and balance between trajectory tracking and yaw stability control of 8 × 8 distributed drive vehicles, a layered cooperative control strategy considering stability constraints and trajectory tracking accuracy is proposed. The upper-layer strategy is based on the fuzzy control adaptive adjustment of the preview-based linear quadratic regulator controller, which improves the predictability of the vehicle when cornering. And, a seven-phase S-curve longitudinal velocity planning strategy is proposed to improve the smoothness and comfort of vehicle driving; The lower layer is based on the equivalent sliding mode control algorithm to implement direct yaw moment control, and the torque vector allocation strategy based on quadratic programming is established by combining the multi-objective optimization theory. Finally, the control strategy is evaluated through co-simulation in Simulink and TruckSim. The results demonstrate that the longitudinal position error during acceleration stabilizes at ± 1.22 cm, while the velocity tracking error remains within ± 0.02 m/s. In the roadway obstacle avoidance driving simulation, on a high-adhesion roadway, the peak lateral error is reduced by 6.96%, the peak yaw rate is reduced by 13.44%, and the peak sideslip angle is reduced by 58.90%; on a low-adhesion roadway, the peak lateral error is reduced by 43.03%; the peak yaw rate is reduced by 17.28%, and the peak sideslip angle is reduced by 66.36%; in the simulation experiment of accelerated driving on the opposite road surface, the peak yaw rate is reduced by 30.99%, and the peak sideslip angle is reduced by 18.41%.