可实现车辆稳定性控制的滑模变结构策略
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摘要
针对横摆角速度及质心侧偏角在车辆稳定控制中的重要作用,提出一种分层结构,在上层系统采用滑模变结构策略对汽车稳定性进行操纵。参考二自由度车辆模型计算控制变量名义值,针对横摆角速度及质心侧偏角偏差和偏差导数,设计汽车稳定操纵系统,由控制参量决策出最优附加横摆力矩。利用李雅普诺夫判定方法判断所设计的闭环系统的稳定性。试验结果表明,本文设计的滑膜变结构控制器在紧急工况下能够明显改善车辆稳定性能,提高行车安全。
The yaw velocity and the side angle of the center of mass play important roles as the main parameters in the stability of the vehicle. In this paper,a layered structure is proposed to control the stability performance of the vehicle by using the sliding mode variable structure strategy for the upper system. A two degree of freedom vehicle model is used to calculate the ideal value of the control variable.The vehicle stability control system is designed according to the yaw velocity and the deviation and deviation derivative of the sideslip angle. The optimal additional yaw moment is calculated by the control parameters. The stability of the closed loop system is judged by Lyapunov decision method. The experimental results show that the sliding mode variable structure controller designed in this paper can improve the stability performance of the vehicle obviously and improve the safety of the vehicle in the emergency.
The yaw velocity and the side angle of the center of mass play important roles as the main parameters in the stability of the vehicle. In this paper,a layered structure is proposed to control the stability performance of the vehicle by using the sliding mode variable structure strategy for the upper system. A two degree of freedom vehicle model is used to calculate the ideal value of the control variable.The vehicle stability control system is designed according to the yaw velocity and the deviation and deviation derivative of the sideslip angle. The optimal additional yaw moment is calculated by the control parameters. The stability of the closed loop system is judged by Lyapunov decision method. The experimental results show that the sliding mode variable structure controller designed in this paper can improve the stability performance of the vehicle obviously and improve the safety of the vehicle in the emergency.
引文
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[2]Liu Zhenyu,Pu Lin,Zhu Konglin,et al.Design and evaluation of V2X communication system for vehicle and pedestrian safety[J].The Journal of China Universities of Posts and Telecommunications,2015,22(6):1826.
[3]丁辉.混合动力汽车制动协调及稳定性控制策略研究[D].长春:吉林大学通信工程学院,2017.Ding Hui.Research on braking coordination and stability control strategy of hybrid electric vehicle[D].Changchun:College of Communication Engineering,Jilin University,2017.
[4]Alipouri Y,Alipour H.Attenuating noise effect on yaw rate control of independent drive electric vehicle using minimum variance controller[J].Nonlinear Dynamics,2017,87(3):16371651.
[5]Ding Shihong,Liu Lu,Zheng Weixing.Sliding mode direct yawmoment control design for inwheel electric vehicles[J].IEEE Transactions on Industrial Electronics,2017,64(8):67526762.
[6]Xia Xin,Xiong Lu,Hou Yuye,et al.Vehicle stability control based on driver's emergency alignment intention recognition[J].International Journal of Automotive Technology,2017,18(6):9931006.
[7]Jalali M,Khosravani S,Khajepour A,et al.Model predictive control of vehicle stability using coordinated active steering and differential brakes[J].Mechatronics,2017,48:3041.
[8]Ren Hongbin,Chen Sizhong,Zhao Yuzhuang.Longitudinal speed control algorithm to improve the vehicle stability and mobility on a sharp curve[J].Journal of Beijing Institute of Technology,2016,25(4):441447.
[9]NahidiA,Kasaiezadeh A,KhosravaniS,et al.Modular integratedlongitudinalandlateralvehiclestabilitycontrol forelectricvehicles[J].Mechatronics,2017,44:6070.
[10]Yoon M Y,Baek S H,Boo K S,et al.Mapbased control method for vehicle stability enhancement[J].Journal of Central South University,2015,22(1):114120.
[11]高玉,申焱华,刘相新,等.计及转角影响的八轴独立电驱车稳定性控制[J].汽车工程,2016,38(4):403409.Gao Yu,Shen Yanhua,Liu Xiangxin,et al.Stability control for eightaxle independent inwheel motor drive vehicle considering the effects of steering angle[J].Automotive Engineering,2016,38(4):403409.
[12]张宝珍,阿米尔,谢晖.基于主动脉冲后轮转向的侧翻稳定性仿真与试验[J].汽车工程,2016,38(7):857864.Zhang Baozhen,Amir Khajepour,Xie Hui.Simulation and test of rollover stability based on rear wheel pulsed active steering[J].Automotive Engineering,2016,38(7):857864.