燃油矿用无轨胶轮车具有污染重、噪声大、效率低等缺点，对井下人员职业健康形成严重危害，矿用电动车研究成为行业发展必然趋势。本文以四轮独立驱动矿用电动车（Four-wheel independent drive mine electric vehicle, 4WIDMEV）为研究对象，针对其在井工煤矿行驶低速机动灵活性差、高速稳定性低和主动安全性低等问题，提出一种主动后轮转向/驱动协同控制策略，从而实现在不过多干预驾驶员行为的情况下提升4WIDMEV的主动安全性、高速稳定性和低速机动性。

       首先，对4WIDMEV非线性系统在特定条件下作出假设并简化，完成4WIDMEV动力学模型的构建。并与Carsim中相同参数的车辆动力学模型进行对比，完成4WIDMEV动力学模型准确性和合理性的验证。

       其次，针对4WIDMEV低速机动灵活性差、高速稳定性低和主动安全性低等问题，以车辆理想侧向动力学特性为理想控制状态，采用模型预测算法优化滑模控制方法，设计一种4WIDMEV主动后轮转向控制器，实现4WIDMEV对目标横摆角速度和目标质心侧偏角的跟踪控制，及在不干预驾驶员行为情况下对车辆灵活性、操纵稳定性和主动安全性的提升，并通过离线仿真实验验证其控制策略的可行性。

       然后，针对极限工况下由于轮胎侧向力发生饱和导致主动后轮转向控制器控制能力受限问题，制定主动后轮转向/驱动协同控制策略，实现横摆控制和后轮转角的控制权重系数分配，并设计一种基于二次规划算法的4WIDMEV驱动力矩分配控制器，将决策层输出的横摆力矩和总的纵向驱动力合理分配给4个驱动车轮，以期提升4WIDMEV在井下极限工况下的操纵稳定性。最后通过离线仿真实验验证协同控制策略的可行性。

       最后，采用硬件在环实验平台和实车测试平台，通过阶跃和正弦两个工况下的硬件在环实验以及实车测试，完成对4WIDMEV主动后轮转向/驱动协同控制策略实时性和有效性的验证。

       Fuel mine trackless rubber-tyred vehicles have the shortcomings of heavy pollution, high noise and low efficiency, which pose a serious hazard to the occupational health of underground personnel, and the research of mining electric vehicles has become an inevitable trend. In this paper, taking the four-wheel independent drive mine electric vehicle (4WIDMEV) as the research object, aiming at the problems of poor low-speed maneuverability, low high-speed stability and low active safety under the driving conditions of underground coal mines, an active rear-wheel steering is proposed. Drive cooperative control strategy to improve the active safety, high-speed stability and low-speed maneuverability of 4WIDMEV without interfering too much with driver behavior.

       Firstly, the assumptions and simplifications of the 4WIDMEV nonlinear system were made under specific conditions, and the construction of the 4WIDMEV dynamic model was completed. The accuracy and rationality of the 4WIDMEV dynamic model were verified by comparing the vehicle dynamics model with the same parameters in the commercial software Carsim.

       Secondly, in order to solve the problems of poor flexibility of low-speed maneuvering, low high-speed stability and low active safety of 4WIDMEV, taking the ideal lateral dynamics characteristics of the vehicle as the ideal control state, a 4WIDMEV active rear-wheel steering controller was designed by using the model prediction algorithm to optimize the sliding mode control, so as to realize the tracking control of the target yaw rate and the target side slip angle of the target by 4WIDMEV, and the flexibility of the vehicle, The control stability and active safety are improved, and the feasibility of the control strategy is verified by offline simulation experiments.

       Then, in order to solve the problem of limited control ability of the active rear-wheel steering controller due to the saturation of the lateral force of the tire under extreme conditions, a cooperative control strategy of active rear-wheel steering and drive was formulated to realize the distribution of the control weight coefficient of the yaw control and the rear wheel rotation angle, and a 4WIDMEV driving torque distribution controller based on quadratic programming algorithm was designed, and the yaw torque output by the decision-making layer and the total longitudinal driving force were reasonably distributed to the four driving wheels, in order to improve the handling stability of 4WIDMEV under underground extreme working conditions. At last, the feasibility of the cooperative control strategy is verified by offline simulation experiments.

       Finally, the hardware-in-the-loop experimental platform and the real vehicle test platform were used to complete the real-time and effective verification of the 4WIDMEV active rear-wheel steering/drive cooperative control strategy through the hardware-in-the-loop experiments and real vehicle tests under step and sine conditions.

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