中文摘要：

针对四轮轮毂电机独立驱动、四轮线控转向电动汽车的过驱动系统,以提高汽车的操纵稳定性为目标,提出了一种基于伪逆控制分配的控制算法.该算法以驾驶员对转向盘和加速踏板的操纵量为输入,通过伪逆控制分配,对汽车的前、后轮转角,4个车轮的驱动力进行控制.在Matlab/Simulink仿真环境下采用8自由度非线性车辆模型对所提出的算法,进行了正弦输入工况和双移线工况的仿真,并与采用常规控制方法时进行对比.结果表明,伪逆控制分配算法提高了汽车对驾驶员驾驶意图的跟随性能,并改善了汽车的稳定性.

英文摘要：

To improve the handling stability of a four wheel hub-motor independent drive, four-wheel steer- ing-by-wire electric vehicle, a typical over-actuated system, an algorithm of pseudo inverse control allocation is pro- posed. By means of pseudo inverse control allocation with steering wheel angle and acceleration pedal travel given by driver as input, the algorithm exerts control over the rotation angles of front and rear wheels and the driving forces of four wheels. Under Matlab/Simulink simulation environment and based on 8 DOF nonlinear vehicle model, simu- lations are conducted on the algorithm proposed with both sinusoidal input and double lane change conditions and the results are compared to that with conventional control scheme. The results show that with the algorithm of pseudo inverse control allocation the vehicle performance of tracking driver＇s intention is enhanced and the stability of vehi- cle is improved.