CAN-Based Lateral Motion Tracking Control For A Class Of Four Wheel Independent Drive Electric Vehicles

Four wheel independent drive electric vehicles as an emerging vehicle structure,which has been attracting lots of attentions and researches.Compared with centralized drive electric vehicles,FWID electric vehicles has considerable advantages on maneuverability,safety and flexibility,and more obviously on the application of some merging electrical assisted equipment.For example: Direct yaw moment control system,active front wheel steer system,electrical stability control system and so on.The aim of doing research on vehicle lateral motion control is mainly about guaranteeing the stability of automobilism,reducing traffic accidents.DYC as the primary control technology of vehicle stability control attracts wide attentions.Currently,all of the research about FWID electric vehicle are assume that the communication pattern among the nodes is point to point.Whereas,the connections between the controller and the physical plant are realized using CAN as the communication medium.If the network induced delay is not considered in the network-based control loop,the control performance will be degraded and more worse the system will instability.In order to attenuate adverse influences on networked control based FWID electric vehicles system.This paper study the CAN-based FWID electric lateral motion stability control system,totally consider the effects of network induced delay on FWID electric vehicle system,study the problem of designing FWID electric vehicles lateral motion tracking controller with delay.Main research contents:Chapter I: We give the background,research status at home and abroad and main research contents of FWID electric vehicles.Chapter II: We propose the physical framework of CAN-based network FWID electric vehicles and construct the mathematical state space model.According to the desired model,we construct the state feedback tracking control system.By analyzing the CAN induced delay,the tracking control system with time delay is constructed.Finally,the necessity of system stability analysis and demonstration through the methods of time response analysis and Lyapunov-Krasovskii functional respectively.Chapter III: At top of the first,the torque allocation problem of FWID electric vehicles is studied.Then,we formulate the characteristic of CAN induced time delay.And consider both torque allocation and network induced time delay,we construct the CAN-based FWID electric vehicles lateral motion distributed drive tracking control system state space model.By Lyapunov-Krasovskii functional method,we analyze the stability of FWID electric vehicles state feedback tracking control system.And designing the controller through LMI linearization method and solving the linearized LMI.Finally,we use the Matlab/Simulink confirm the effectiveness of the designed controller.Chapter IV: Concluding this paper and giving the prospects.