分布式电驱动无人平台车轮滑移率最优控制

针对车轮纵向滑移率直接影响平台的动力性和操纵稳定性的问题，文中首先分析了滑移率控制问题，并在传统分析模型的基础上建立了考虑各车轮转矩耦合作用与车速观测误差的纵向滑移率动力学模型，以此为基础进行了基于不确定性及外部扰动的最优系统设计、控制器求解，利用动力学仿真软件CarSim针对对开路面对所设计的控制器进行了仿真验证.本文所采用的鲁棒H_∞最优控制器可以较好地保证车轮纵向滑移率在不同工况下稳定在0.2左右，基本达到了控制效果.与未施加控制的情况相比，施加控制后车轮的滑移率得到了显著控制，保证了轮速一致，避免了车轮失速；同时车辆的加速度得到提升，动力性增强. 

Optimal Control of Wheel Slip Ratio of Distributed Electric Drive Unmanned Platform

The wheel longitudinal slip ratio can affect the dynamic ability and stability of the unmanned platform directly. So, the slip ratio control problem was firstly analyzed in this paper, and then a dynamic model of the longitudinal slip ratio of the wheel was established based on tradition analysis model, considering the torsion coupling of wheels and the observation error of vehicle speed. Based on this, the optimal system design and controller solution were carried out, considering the uncertainty and external disturbances. Finally, the controllers designed for the pavements were simulated and verified with simulation software CarSim. Results show that, the robust optimal controller can ensure that the wheel longitudinal slip rate keeps stably at about 0.2 under different working conditions, achieving the control effect basically. Compared with the case without control, the wheel slip rate can be obviously controlled, ensuring the wheel speed consistent and avoiding the wheel stall. At the same time, the acceleration of the vehicle can be improved and the dynamic performance can be enhanced.