Research On Path Following And Torque Distribution Control Scheme Of Four Wheel Independent Drive Electric Vehicle

Electrification and intellectualization are the main trends of the development of vehicle technology in the future.Four wheel independent drive electric vehicle(FWIDEV)has been the main carrier of vehicle intelligence because of its mechanical structure characteristics,fast response speed and high transmission efficiency.Path following control system is the necessary condition for realizing intelligent vehicle.However,the four wheel independent drive characteristic increases the difficulty of control design,and requires coordinated distribution for four wheel torque,and combined with the uncertainties of vehicle parameters,the research on path following control of FWIDEV is more challenging and becomes one of the focus for the research on the control of autonomous electric vehicles.Therefore,the research on the precise path following control scheme and the four wheel torque distribution optimization scheme of FWIDEV is carried out in this paper,the main research contents are as follows:Firstly,the plant is FWIDEV,whose structural features are studied.The mathematical model of path following control is established from the view of vehicle dynamics and kinematics.It provides the model basis for the design of the following control methods,and the system structure and working principle of FWIDEV real vehicle test platform are introduced.Secondly,in order to solve the path following control problem of FWIDEV,combined with the characteristics of its multi-input and multi-output system,the lateral displacement and yaw angle are selected as reference inputs,and a path following control scheme based on linear model predictive control is proposed.And aiming at the problem of four-wheel independent drive control in FWIDEV path following process,a torque distribution optimization scheme is proposed.Under the condition of double lane change,the advantages of the proposed control scheme are verified by the combination simulation platform of Car Sim and MATLAB/Simulink.Finally,in order to further solve the problem of tire cornering stiffness perturbation in FWIDEV steering of path following,an adaptive nonsingular terminal sliding mode control scheme is proposed.And aiming at the problem that FWIDEV tire is prone to slip with low road adhesion coefficient,a torque distribution optimization scheme with physical constraints is proposed.Under the condition of double lane change,the accuracy of the proposed scheme is verified by the combination simulation platform of Car Sim and MATLAB/Simulink,and the effectiveness of the proposed scheme is verified by FWIDEV real vehicle test platform.