关键词: AWID-AWIS车辆, 有人驾驶, 动力学控制, 扩张状态观测器, 自抗扰控制器

Abstract:

As an essential characteristic, controlredundancy makes the AWID-AWIS (All-Wheel-Independent-Drive ＆ Steering) vehicle dynamics control generally realized by the hierarchical control method. In this paper, the body dynamics control of the manned AWIDAWIS vehicle was studied. First, the driver’s intention and reference model were used to produce control targets. Then the extended state observer (ESO) was used to estimate the “internal disturbance” and“external disturbance” in realtime, and the vehicle dynamics active disturbance rejection controller (ADRC) was subsequently designed. Third, the vehicle’s motions under different conditions were simulated, and the problems between the system’s control ability restrictions and the driver's intentions were discussed. The necessity and future work direction of solving the problems werealso pointed out.

Key words: AWID-AWIS vehicle, manned driving, dynamics control, extended state observer(ESO), active disturbance rejection control (ADRC)