随着能源革命和碳达峰碳中和要求的提出，煤矿智能化技术得到了快速发展。分布式驱动矿用电动车作为煤矿新型高效辅助运输设备，能够节约能源，降低污染，有效改善运输效率，降低煤矿开采安全事故。本文针对煤矿井下复杂工况下分布式驱动矿用电动车转向系统和车辆操纵稳定性关键问题开展研究，重点研究其转向/驱动协调控制策略，主要研究内容如下：

根据分布式驱动矿用电动车整车性能，建立整车七自由度模型，通过与CarSim软件中车辆模型进行参数匹配，以及在高速双移线工况下进行联合仿真对比验证，结果表明所搭建整车七自由度仿真模型的有效性和正确性。

针对所采用的转向系统，分别制定了针对主动前轮系统（Active Front Steering，AFS）系统的H₂/H_∞混合鲁棒控制策略，以及针对差动助力转向（Differential Drive Assist Steering，DDAS）系统的线性自抗扰控制器。基于操纵性改善控制算法，针对AFS/DDAS系统间的耦合冗余问题制定了AFS/DDAS系统协调控制策略，削弱了因DDAS系统引入而产生的不良横摆力矩对车辆稳定性影响。

根据车辆稳定性的要求，制定了分布式驱动矿用电动车转向/驱动分层协调控制策略，其中上层采用LQR算法设计了直接横摆力矩控制器，根据质心侧偏角将稳定性控制区域划分为稳定区、过渡区和非稳定区。通过判断车辆处于的控制区域决算出三个子系统的权重系数。下层控制器将上层控制器决算出的附加转矩通过分配算法分配给驱动轮。

采用CarSim/Simulink仿真平台和dSPACE硬件在环实时仿真平台，通过双移线、阶跃以及正弦等典型工况下的仿真实验，验证了本文制定的转向/驱动协调控制策略的有效性和实时性。

With the energy revolution and the carbon neutralization requirement, the intelligent technology of coal mines has been developed rapidly. As a new type of high-efficiency auxiliary transportation equipment for coal mines, distributed-drive mining electric vehicles can save energy, reduce pollution, improve transportation efficiency and reduce safety accidents in coal mining. This paper studies the key issues of the steering system and vehicle operation stability of distributed-drive mining electric vehicles under complex working conditions in coal mines, focusing on the steering/drive coordination control strategy. The main research contents are as follows.

(1) According to the whole vehicle performance of the distributed driving mining electric vehicle, a seven-degree-of-freedom (7-DOF) model is established. The parameters are matched with the vehicle model in the CarSim software. The co-simulation comparison is carried out under high-speed double-line shifting conditions. The results prove the validity and correctness of the 7-DOF simulation model built for the vehicle.

(2) For the adopted steering system, the H₂/H_∞ hybrid robust control strategy for the active front wheel system (AFS) and the linear active disturbance rejection controller(LADRC) for the differential drive assisted steering (DDAS) system are formulated respectively. Based on the maneuverability improvement control algorithm, a coordinated control strategy of the AFS/DDAS system is formulated for the coupling redundancy problem between the AFS/DDAS systems, which weakens the influence of the bad yaw moment caused by the introduction of the DDAS system on the vehicle stability.

(3) According to the requirements of vehicle stability, the steering/driving layered coordinated control strategy for distributed driving mining electric vehicle is formulated. In the upper layer, adopt the LQR algorithm to design a direct yaw moment controller (DYC). According to the slip angle of mass center, the stability control area is divided into stable area, transition area and unstable area. The weight coefficients of the three subsystems are determined by judging the control area of the vehicle. The lower-level controller distributes the additional torque calculated by the upper-level controller to the driving wheels through distribution algorithm.

(4) Using the CarSim/Simulink simulation platform and the dSPACE hardware-in-the-loop real-time simulation platform, the effectiveness of the steering/drive coordinated control strategy formulated in this paper is verified through the simulation experiments under typical working conditions, such as double line changes, step and sinusoidal.

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