融合主动前轮转向与差动助力转向的车辆转向协调控制研究

王健龙; 张传伟; 党蒙; 常波

doi:10.13433/j.cnki.1003-8728.20230316

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融合主动前轮转向与差动助力转向的车辆转向协调控制研究

更新时间：2026-04-23

- 融合主动前轮转向与差动助力转向的车辆转向协调控制研究
- Research on Vehicle Steering Coordination Control Combined Active Front Wheel Steering with Differential Drive Assisted Steering
- 机械科学与技术 2025年44卷第8期页码：1451-1464
- 作者机构：
  
  西安科技大学机构机械工程学院,西安,710054
- 作者简介：
  
  [ "王健龙，博士研究生，" ]
  [ "张传伟，教授，博士生导师，" ]
- 基金信息：
  
  国家自然科学基金项目（51974229）与陕西省教育厅2022年度青年创新团队建设科研计划（22JP045）
- DOI：10.13433/j.cnki.1003-8728.20230316
  中图分类号：
- 纸质出版：2025
- 稿件说明：
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王健龙, 张传伟, 党蒙, 等. 融合主动前轮转向与差动助力转向的车辆转向协调控制研究[J]. 机械科学与技术, 2025,44(8):1451-1464.

王健龙, 张传伟, 党蒙, et al. Research on Vehicle Steering Coordination Control Combined Active Front Wheel Steering with Differential Drive Assisted Steering[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(8): 1451-1464.
王健龙, 张传伟, 党蒙, 等. 融合主动前轮转向与差动助力转向的车辆转向协调控制研究[J]. 机械科学与技术, 2025,44(8):1451-1464. DOI： 10.13433/j.cnki.1003-8728.20230316.

王健龙, 张传伟, 党蒙, et al. Research on Vehicle Steering Coordination Control Combined Active Front Wheel Steering with Differential Drive Assisted Steering[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(8): 1451-1464. DOI： 10.13433/j.cnki.1003-8728.20230316.

摘要

针对现有分布式驱动电动车转向/驱动协调控制过程中不能同时实现快速响应驾驶员操作指令和保证驾驶员具有良好的操纵稳定性问题，本文提出一种融合主动前轮转向（AFS）与差动助力转向（DDAS）的车辆转向协调控制策略。首先，通过分析AFS/DDAS系统间的耦合冗余问题，制定基于操纵性改善模块的协调控制策略。在此基础上制定基于车辆稳定性的分布式驱动电动车转向协调控制策略。其次，搭建MATLAB/Simulink和Carsim联合仿真平台，在方向盘角阶跃工况、双移线工况和蛇形工况下进行仿真验证。最后，搭建实车试验平台。在所搭建的PIX分布式驱动电动汽车平台上进行双移线工况和蛇形工况下的实车试验验证。实验结果表明融合AFS与DDAS转向协调控制策略具有良好的有效性和实时性。

Abstract

Focusing on the problems that the existing steering/drive coordination control process of distributed drive electric vehicles cannot simultaneously realize the rapid response to the driver's operation command and ensure the driver has good handling stability

this paper proposes a vehicle steering coordination control strategy that integrates active front wheel steering (AFS) and differential drive assisted steering (DDAS). Firstly

after analyzing the coupling redundancy between AFS/DDAS systems

a coordinated control strategy based on the handling improvement module is developed. On this basis

a coordinated steering control strategy of distributed drive electric vehicles based on vehicle stability is developed. Secondly

the co-simulation platform of MATLAB/Simulink and Carsim is built

and the simulation verification is carried out under the steering wheel angle step condition

double line shift condition and snake condition. Finally

a test platform is built. On the PIX distributed drive electric vehicle platform

the real vehicle test is carried out under double lineshifting condition and snake condition. The experiment results show that the fusion of AFS and DDAS steering coordination control strategy is effective and real-time.

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