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针对电动汽车存在的稳定性与经济性强耦合难题，依托四轮独立转向分布式驱动（4WIS-4WID）电动汽车全轮可控特性，提出基于动态权重分配的非线性模型预测控制（NMPC）策略。上层NMPC控制器基于七自由度模型生成横摆力矩、纵向力和前后轮转角的参考值。下层多目标分配控制器构建融合电机损耗、轮胎滑移损耗和轮胎负荷率的目标函数。引入自适应权重系数调整目标权重并结合阿克曼转角预优化策略采用二次规划进行求解。仿真与实验结果表示：提出的控制方法有效提高了4WIS-4WID车辆的稳定性与经济性。
Abstract：To address the strong coupling challenge between stability and economy in electric vehicles,this study leverages the all-wheel controllable characteristics of four-wheel independent steering and four-wheel independent drive(4WIS-4WID) electric vehicles and proposes a nonlinear model predictive control(NMPC) strategy based on dynamic weight allocation. The upper-layer NMPC controller generates reference values for yaw moment,longitudinal force,and front/rear wheel angles using a seven-degree-of-freedom model. The lower-layer multi-objective allocation controller constructs an objective function that integrates motor loss,tire slip loss,and tire load rate. It introduces adaptive weight coefficients to adjust objective weights and combines the Ackermann angle pre-optimization strategy to solve the problem using quadratic programming. Simulation and experimental results show that the proposed control method effectively improves the stability and economy of 4WIS-4WID vehicles.
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基本信息:
中图分类号:U469.72
引用信息:
[1]杨朝阳,汤明.分布式驱动四轮独立转向电动汽车稳定性与经济性协同控制[J].淮阴工学院学报,2026,35(03):22-30.
基金信息:
湖北省高等学校优秀中青年科技创新团队“新型悬架系统关键技术及产业化”（T201913）; 湖北省自然科学基金“机-电-磁-液-热耦合系统的一体化瞬态数学建模与计算方法研究”（2021CFB592）
2025-09-22
2025
2025-11-27
2025-11-26
2025
1
2026-06-15
2026-06-15