摘要
为提高车辆的操纵稳定性,设计了采用横摆力矩优化分配方法的车辆稳定性控制系统。控制系统的上层采用基于最优理论的横摆力矩控制器,该控制器根据校正横摆力矩来计算目标控制车轮的参考滑移率;下层是PID控制器,它跟踪上层控制器的参考滑移率,对目标车轮施加制动力矩从而使车辆稳定。采用八自由度非线性车辆模型在不同工况下进行仿真,结果表明所设计的控制系统能够有效地改善车辆的操纵稳定性。
In order to improve vehicle handling stability,a control system using optimal allocation of yaw moment was designed. The first layer is a linear quadratic regulator （LQR） controller,which optimizes a desired yaw moment to work on the vehicle and calculates reference wheel slip for the target wheel. The second layer of the control system is a PID controller which can track the reference wheel slip rate,and then apply braking torque on the target wheel to make the vehicle stable. Simulations are carried out by using an 8-dof nonlinear vehicle model under different conditions. The simulation results indicate that the designed control system can effectively improve vehicle handling stability.
出处
《重庆大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2010年第10期19-24,共6页
Journal of Chongqing University
基金
重庆市重大科技攻关项目(CSTC,2008AA6030)
