基于滑模控制的四轮独立转向车辆稳定性研究

doi:10.16731/j.cnki.1671-3133.2025.12.009

现代制造工程 ›› 2025, Vol. 543 ›› Issue (12): 67-75.doi: 10.16731/j.cnki.1671-3133.2025.12.009

基于滑模控制的四轮独立转向车辆稳定性研究

李忠利^1,2, 谭志华^1,2, 闫祥海^1,2, 杨雯皓^1,2

1 河南科技大学车辆与交通工程学院,洛阳 471003;
2 河南科技大学河南省汽车节能与新能源重点实验室,洛阳 471003

收稿日期:2025-01-25 出版日期:2025-12-18 发布日期:2026-01-06
通讯作者: 李忠利,硕士,副教授,主要研究方向为汽车电子控制技术、汽车动力学。E-mail:lylzl69@163.com
作者简介:谭志华,硕士研究生,主要研究方向为车辆动力学及车辆电控。E-mail:13613992494@163.com
基金资助:
*“十四五”国家重点研发计划子课题项目(2022YFD2001201B);河洛青年人才托举工程项目(2024HLTJ03)

Research on the stability of four-wheel independent steering vehicles based on sliding mode control

LI Zhongli^1,2, TAN Zhihua^1,2, YAN Xianghai^1,2, YANG Wenhao^1,2

1 School of Vehicle and Traffic Engineering,Henan University of Science and Technology, Luoyang 471003,China;
2 Key Laboratory of Automotive Energy Conservation and New Energy in Henan Province, Henan University of Science and Technology,Luoyang 471003,China

Received:2025-01-25 Online:2025-12-18 Published:2026-01-06

摘要/Abstract

摘要： 随着未来自动驾驶车辆需求的持续增长,线控转向(Steer-By-Wire,SBW)系统的应用越来越广泛。车辆在高速转向时由于轮胎侧偏力的影响而无法实现理想的阿克曼转向,此时车辆无法完全围绕同一个瞬时转向中心(Instantaneous Center of Rotation,ICR)转向,影响车辆操纵稳定性,增加了转向行驶阻力、加剧轮胎磨损;因此,提出了一种四轮独立转向(Four-Wheel Independent Steering,4WIS)的控制策略,该策略通过滑模控制器(Sliding Mode Controller,SMC)控制,以减小轮胎侧偏角对阿克曼转向的影响,从而增强车辆的稳定性。为验证所提出的滑模控制策略的有效性,通过MATLAB/Simulink软件与Carsim软件进行联合仿真,对比4WIS车辆在有无滑模控制器控制时横摆角速度、横向加速度和质心侧偏角的大小;在缩比模型车试验时采用和仿真峰值近似相同的横向加速度以保证仿真和缩比模型车试验的对应关系,通过仿真和缩比模型车试验表明,有滑模控制时4WIS车辆的横向加速度、横摆角速度和质心侧偏角都小于无滑模控制的4WIS车辆,从而验证了所提控制策略的有效性。

关键词: 四轮独立转向, 线控转向, 滑模控制器, 操纵稳定性

Abstract: With the increasing demand for autonomous vehicles in the future,the application of Steer-By-Wire (SBW) systems is becoming more widespread. When a vehicle is steering at high speeds,it is unable to achieve ideal Ackermann steering due to the influence of tire side forces. As a result,the vehicle cannot completely steer around a single Instantaneous Center of Rotation (ICR),which affects vehicle handling stability,increases steering resistance,and accelerates tire wear.Therefore,a Four-Wheel Independent Steering (4WIS) control strategy was proposed. This strategy used a Sliding Mode Controller (SMC) to reduce the impact of tire side slip angle on Ackermann steering,thereby enhancing vehicle stability. To verify the effectiveness of the proposed sliding mode control strategy,a co-simulation using MATLAB/Simulink software and Carsim software was conducted. The yaw rate,lateral acceleration,and vehicle side slip angle of the 4WIS vehicle with and without the sliding mode controller were compared. In the scaled model vehicle experiments,a lateral acceleration approximately equal to the peak value in the simulations was used to ensure the correspondence between the simulation and scaled model vehicle tests. The results from both the simulation and scaled model vehicle experiments showed that the lateral acceleration,yaw rate,and vehicle side slip angle of the 4WIS vehicle with sliding mode control were all smaller than those of the 4WIS vehicle without sliding mode control,thus verifying the effectiveness of the proposed control algorithm.

Key words: Four-Wheel Independent Steering (4WIS), Steer-By-Wire (SBW), Sliding Mode Controller (SMC), handling stability

中图分类号:

U461

李忠利, 谭志华, 闫祥海, 杨雯皓. 基于滑模控制的四轮独立转向车辆稳定性研究[J]. 现代制造工程, 2025, 543(12): 67-75.

LI Zhongli, TAN Zhihua, YAN Xianghai, YANG Wenhao. Research on the stability of four-wheel independent steering vehicles based on sliding mode control[J]. Modern Manufacturing Engineering, 2025, 543(12): 67-75.

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基于滑模控制的四轮独立转向车辆稳定性研究

Research on the stability of four-wheel independent steering vehicles based on sliding mode control

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