复杂网络化控制在四轮独立驱动电动汽车动力学控制的应用基础研究

The network-based four-wheel-independent-drive (4WID) electric vehicles have significant advantages on the vehicle dynamics control and fault diagnosis. However, the network is involved in the communication among a lot of controllers, sensors and actuators. Then, The overall system becomes a complex mechanical-electrical-network-based system, in which the network-induced issues such as the delays and packet dropouts would have negative impact on the vehicle controller performance. Moreover, the existing results on the networked control systems cannot be applied to the system due to the complexities. ..In this proposal, the objectives are five-fold: to develop the control theory which is suitable for the networked control electric vehicles; to reveal the impact of the network-induced issues on the vehicle dynamics control; to identify the state-dependent mathematical delay model and packet dropout model in a complex network environment; to study the control strategies of the 4WID electric vehicle dynamics which is focused on the traction control system (TCS), electric stability program (ESP), and anti-lock braking system (ABS); and to expand the results to regular over-actuated nonlinear networked control systems...The research results of this proposal would bridge the network control theory and the practical applications，contribute to the development of the network control theory, and provide the fundamental theory supports to the controller design of the networked control 4WID electric vehicles. In all, the research in this proposal is meaningful for the theory development of the networked control systems and electric vehicle design in China..

基于车载网络的四轮独立驱动电动汽车在整车动力学控制与故障诊断上有突出的优势，但其必须依靠车载网络实现多个控制器、传感器和执行器之间的通讯，使得该系统成为一个机-电-网络耦合的复杂系统。车载网络的时滞和丢包对整车动力学控制具有重要影响，但现有的网络化控制理论不适用于该复杂系统。本项目拟建立适用于四轮独立驱动电动汽车的网络化控制理论；揭示网络时滞和丢包对整车动力学控制的影响规律；建立复杂车载网络环境下状态依赖的网络时滞和网络丢包的数学模型； 围绕车辆的驱动防滑、横向稳定性和制动防抱死系统，开展四轮独立驱动电动汽车动力学控制策略的研究；同时将研究成果扩展到一般的过驱动网络非线性控制系统。本项目的研究成果将架起网络化控制理论与实际应用之间的桥梁，促进网络化控制技术的发展，为四轮独立驱动电动汽车整车动力学控制系统的开发提供理论依据和理论保障，对网络化控制理论和我国电动汽车发展都具有重要意义。

本项目的主要研究内容包括复杂网络化控制理论研究和基于复杂车载网络的四轮独立驱动电动汽车动力学控制应用研究。所开展的工作和创新点包含：提出了基于车载网络的多种控制理论和时滞补偿方法；研究了利用主动前轮转向和直接横摆力矩控制的汽车动力学问题；揭示了车载网络时滞和网络丢包的影响因素，并预测了车载网络时滞和网络丢包的上限；研究了四轮独立驱动电动汽车动力学模型和基于模型的故障诊断方法；研究了非线性网络化控制系统的分析和滤波器设计方法。相关科研成果发表了SCI期刊论文16篇（其中ESI高被引论文3篇），申请了发明专利2项，参编英文专著1个章节。此外，在SCI权威期刊组织了智能汽车控制和信号处理专刊1次。