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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 the stability of traffic curve in vehicle corner, a method of vehicle lateral stability control based on predictive control is proposed to solve the nonlinear problem of vehicle transverse stability control. A simplified model of vehicle steering motion is established. By using predictive control strategy, additional torque is generated by differential braking to control the vehicle yaw movement. At the same time, the system error is corrected and corrected by taking the vehicle slip angle and yaw rate as feedback input variables, The vehicle predictive control system is designed. The control system is simulated in two kinds of working conditions, stepping input and sinusoidal input respectively. The simulation results show that compared with the non-control vehicle, the steady-state output of the yaw rate and slip angle decreases and the overshoot decreases. It shows that this method can effectively control the vehicle yaw rate and slip angle , To improve the lateral stability of the vehicle when turning. Especially for vehicles running on low adhesion road surface, the control effect is more obvious. At the same time, this method can effectively reduce the burden on the driver.