摘要
为满足分布式驱动车辆在不同行驶工况下的良好操纵稳定性需求,基于横摆角速度控制分别设计了侧重于改善车辆操纵性和横向稳定性的2种横向动力学控制目标。首先,根据可拓控制器设计2种横向动力学控制目标的动态权重系数,且以质心侧偏角和路面附着系数为调整参量进行实时动态调整;然后,利用积分滑模控制器计算出所需的附加横摆力矩并将其合理分配到4个独立驱动车轮进行驱动控制;最后,通过硬件在环试验平台进行试验分析,结果表明该控制策略能够很好地提高车辆操纵性和横向稳定性。
In order to meet the requirements that the distributed drive vehicle can have good handling and stability,two lateral dynamics control objectives based on yaw rate control focusing on improving vehicle handling and lateral stability were designed.Firstly,the dynamic weight coefficients of the two lateral dynamic control objectives were designed according to the extension controller,and the sideslip angle of centroid and the road adhesion coefficient were used as adjustment parameters for real-time dynamic adjustment.Then,the additional yaw moment required was calculated based on the integral sliding mode controller,and then the additional yaw moment was reasonably distributed to each independent driving wheel for driving.Finally,through the test and analysis of the hardware in the loop test platform,the results show that the control strategy can improve the vehicle handling and lateral stability.
作者
屈小贞
孙文愽
王斌
牛振宇
QU Xiaozhen;SUN Wenbo;WANG Bin;NIU Zhenyu(School of Automobile&Transportation Engineering,Liaoning University of Technology,Jinzhou 121001,China)
出处
《现代制造工程》
CSCD
北大核心
2023年第5期51-57,共7页
Modern Manufacturing Engineering
基金
辽宁省教育厅基础研究项目(JJL202015404)。
关键词
操纵性
横向稳定性
积分滑模
硬件在环试验
handling
lateral stability
integral sliding mode
hardware in the loop test
