摘要
为提高车辆弯道行驶的稳定性,针对车辆横向稳定性控制中的非线性问题,提出了一种基于预测控制的车辆横向稳定性控制方法。建立了车辆转向运动的简化模型,利用预测控制策略,通过差动制动产生附加力矩来控制车辆的横摆运动,同时以车辆侧偏角和横摆角速度为反馈输入变量来校正消除系统误差,设计了车辆预测控制系统,并对控制系统在转向轮阶跃输入和正弦输入2种工况分别进行了仿真研究。仿真结果表明,施加控制的车辆与无控制的相比,横摆角速度与侧偏角的输出稳态值减小,超调量降低,表明该方法能有效地控制车辆横摆角速度和侧偏角,提高车辆转向时的横向稳定性。特别对行驶于低附着路面的车辆,控制效果更加明显,同时该方法也能有效地减轻驾驶员操纵负担。
In order to improve vehicle yaw stability on curve and in view of the nonlinear problems in vehicle yaw stability control, a control method for improving vehicle yaw stability based on predictive control was proposed. A simplified model of vehicle steering motion was set up. By using predictive control strategy, the vehicle yaw motion was controlled through generating additional torque from a differential braking. Simultaneously, yaw rate and side slip angle were used as feedback input variables to suppress system error. A vehicle predictive control system was designed, and a simulation for the control system under the conditions of step input and sinusoidal input of steering wheel was performed. The simulation result shows that compared with the uncontrolled vehicle, the steady values and the overshoots of yaw rate and side slip angle were reduced, the presented method can effectively control the yaw rate and side slip angle synchronously, and the vehicle yaw stability on curve was improved. Especially an evident response can be achieved on a low adhesive road, and the method could lighten the burden of driver.
出处
《公路交通科技》
CAS
CSCD
北大核心
2012年第10期149-153,共5页
Journal of Highway and Transportation Research and Development
关键词
汽车工程
横向稳定性
预测控制
弯道
仿真
automobile engineering
yaw stability
predictive control
curve
simulation
