摘要
为了防止车辆侧翻和提高行车主动安全性,建立了考虑侧倾稳定性的车辆稳定性控制系统。首先建立了车辆稳定性参考模型,分析了侧倾稳定性模型;然后为了得到维持车辆稳定所需的修正横摆力偶矩,基于滑模控制原理设计了控制系统的上层控制器;在制动力分配方面,制定了单侧车轮同时制动的分配策略;最后利用CarSim和Matlab/Simulink对控制系统进行了联合仿真试验验证与分析。鱼钩转向开环试验结果表明:该控制系统横向稳定性和侧倾稳定性优异。双移线闭环试验结果表明:车辆跟踪目标路径良好,即能有效响应驾驶员的操纵意图。该控制系统满足FMVSS 126法规通过性要求,提高了车辆主动安全性。
In order to prevent vehicle rollover and enhance traffic active safety, a new stability control system with roll stability considered is presented. Firstly, by analyzing the theoretical basis of roll sta- bility, the new stability reference model was deduced and established. Then an upper controller based on sliding mode control was designed to calculate the yaw moment needed in keeping vehicle driving stably. The braking force allocation strategy was also developed with unilateral wheels braking at the same time. Finally, by using co-simulation method between CarSim and Matlab/Simulink, the effec- tiveness of the control system proposed was verified and further analyzed. The fishhook steering test shows the system is excellent in keeping both lateral stability and roll stability. The double lane- change test shows vehicle with the system performs well in tracking the target path and responding the drive＇ s intention. The proposed stability control system satisfies FMVSS 126 regulation, and it is fea- sible to enhance vehicle active safety.
出处
《重庆理工大学学报（自然科学）》
CAS
2014年第6期25-31,59,共8页
Journal of Chongqing University of Technology：Natural Science
关键词
车辆
操纵动力学
稳定性
侧翻
滑模控制
vehicles
maneuver dynamics
stability
rollover
sliding mode control
