车辆横摆与侧倾稳定性控制研究
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摘要
为实现对车辆的侧倾控制,自主设计了主动横向稳定杆(Active Anti-Roll Bar,AARB)装置。针对车辆在侧倾中存在非线性、时变性的特点,采用滑模变结构控制理论建立了滑模控制器实现对理想侧倾角的跟踪,保证了车辆的侧倾稳定性。由于在采用AARB控制车辆侧倾时,存在车辆失稳的特点,文中提出采用电子稳定性程序(Electronic Stability Program,ESP)及设计模糊控制器对带有AARB车辆的失稳进行控制,并进行了仿真试验。仿真结果表明,该集成控制能有效控制车辆的侧翻与失稳,有效提高了车辆的横摆与侧倾稳定性。
In order to control the rolling of the vehicle,the Active Anti-roll Bar(AARB) is designed. Based on the non-linear,time-varying characteristics in the roll motion,a sliding mode controller is designed,so as to track the ideal roll angle,thus ensuring the roll stability of the vehicle. However,this approach has a drawback-the process of rolling prevention produces instability of the vehicle. To overcome this drawback,in this paper,Electronic Stability Program(ESP) with the fuzzy controller is employed,in order to control the instability of the AARB vehicle,and a series of simulation experiments are conducted. The results show that the integrated control system can effectively control the rolling and instability of the vehicle,and enhance the yaw and roll stability of the vehicle in an effective manner.
In order to control the rolling of the vehicle,the Active Anti-roll Bar(AARB) is designed. Based on the non-linear,time-varying characteristics in the roll motion,a sliding mode controller is designed,so as to track the ideal roll angle,thus ensuring the roll stability of the vehicle. However,this approach has a drawback-the process of rolling prevention produces instability of the vehicle. To overcome this drawback,in this paper,Electronic Stability Program(ESP) with the fuzzy controller is employed,in order to control the instability of the AARB vehicle,and a series of simulation experiments are conducted. The results show that the integrated control system can effectively control the rolling and instability of the vehicle,and enhance the yaw and roll stability of the vehicle in an effective manner.
引文
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[7]Jae Lew,Damrongrit Piyabongkarn,John Grogg.Minimizing dynamic rollover propensity with electronic limited slip differentials[J].SAE Paper,2006-01-1279,2006.
[8]Jeon K,Hwang H,Choi S,et al.Development of an electric active rollcontrol(ARC)algorithm for a suv[J].International Journal of Automotive Technology,2012,13(2):247-253.
[9]Jangyeol Yoon,Wanki Cho,Bongyeong Koo,et al.Unified chassis control for rollover prevention and lateral stability[J].IEEE Transactions on Vehicular Technology,2009,58(2):596-609.
[10]Mohammad Kamal,Taehyun Shim.Development of active suspension control for combined handling and rollover propensity enhancement[J].SAE Paper,2007-01-0826,2007.
[11]Willy K,Martin K,Wolfgang S.Integrated safety concept and design of a vehicle dynamics management system[J].SAE Paper,2007-01-0842,2007.
[12]Jangyeol Y,Wanki C,Juyong K,et al.Design and evaluation of a unified chassis control system for rollover prevention and vehicle stability improvement on a virtual test track[J].Control Engineering Practice,2010,18(6):585-597.
[13]Nagai M,Shino M,Gao F.Study on integrated control of active front steer angle and direct yaw moment[J].JSAE Review,2002,23(3):309-315.
[14]胡久强.基于Matlab的汽车侧倾角刚度匹配及稳定杆设计[J].农业装备与车辆工程,2003,51(7):21-24.
[15]Dipl lng Daniel,Lindvai-Soos.Function development process of the electric anti roll stabilizer EARS[R].Project House of Magna,2008.
[16]刘永信,陈志梅,方健,等.现代控制理论[M].北京:中国林业出版社,2006:194-205.
[17]杨康.汽车电子稳定系统(ESP)控制策略的研究[D].秦皇岛:燕山大学,2014.
[2]Nicholas Cooper,David Crolla,Martin Levesley,et al.Integration of active suspension and active driveline to improve vehicle dynamics[J].SAE Paper,2004-01-3544,2004.
[3]付皓.汽车电了稳定性系统质心侧偏角估计与控制策略研究[D].长春:吉林大学,2008.
[4]Taehyun Shim,Daniel Eugene Toomey.Investigation of active steering/wheel torque control at the rollover limit maneuver[J].SAE Paper,2004-01-2097,2004.
[5]Masaki Izawa,Takafumi Kato,Sekiya S,et al.Development of a roll control method using a variable damper that takes into account ride performance while steering[C]//The Japan Society of Mechanical Engineering,2006:171-172.
[6]Hanlong Yang,Louis Y Liu.A robust active suspension controller with rollover prevention[J].SAE Paper,2003-01-0959,2003.
[7]Jae Lew,Damrongrit Piyabongkarn,John Grogg.Minimizing dynamic rollover propensity with electronic limited slip differentials[J].SAE Paper,2006-01-1279,2006.
[8]Jeon K,Hwang H,Choi S,et al.Development of an electric active rollcontrol(ARC)algorithm for a suv[J].International Journal of Automotive Technology,2012,13(2):247-253.
[9]Jangyeol Yoon,Wanki Cho,Bongyeong Koo,et al.Unified chassis control for rollover prevention and lateral stability[J].IEEE Transactions on Vehicular Technology,2009,58(2):596-609.
[10]Mohammad Kamal,Taehyun Shim.Development of active suspension control for combined handling and rollover propensity enhancement[J].SAE Paper,2007-01-0826,2007.
[11]Willy K,Martin K,Wolfgang S.Integrated safety concept and design of a vehicle dynamics management system[J].SAE Paper,2007-01-0842,2007.
[12]Jangyeol Y,Wanki C,Juyong K,et al.Design and evaluation of a unified chassis control system for rollover prevention and vehicle stability improvement on a virtual test track[J].Control Engineering Practice,2010,18(6):585-597.
[13]Nagai M,Shino M,Gao F.Study on integrated control of active front steer angle and direct yaw moment[J].JSAE Review,2002,23(3):309-315.
[14]胡久强.基于Matlab的汽车侧倾角刚度匹配及稳定杆设计[J].农业装备与车辆工程,2003,51(7):21-24.
[15]Dipl lng Daniel,Lindvai-Soos.Function development process of the electric anti roll stabilizer EARS[R].Project House of Magna,2008.
[16]刘永信,陈志梅,方健,等.现代控制理论[M].北京:中国林业出版社,2006:194-205.
[17]杨康.汽车电子稳定系统(ESP)控制策略的研究[D].秦皇岛:燕山大学,2014.