车辆弯道变速行驶时的纵横向耦合控制研究

车辆弯道变速行驶时，纵横向运动存在强烈的动力学耦合效应，通过纵向和横向单独控制很难取得比较理想的控制效果。为了实现复杂工况下车辆自动跟踪控制，建立了纵横向耦合车辆模型，主要包括整车模型、传动系统模型和轮胎模型，根据滑模控制以及动态表面控制理论，研究了车辆在弯道变速行．驶工况的动力学藕合控制问题，提出了一种基于滑模和动态表面控制的纵横向耦合组合控制器，仿真结果表明该耦合控制器具有较强的鲁棒性，其纵横向跟踪性能优于无耦合补偿的控制器。

Study on Lateral and Longitudinal Coupling Control when Vehicle Driving in Crooked Road with Variable Velocity

The strong dynamic coupling effects exist between the lateral and longitudinal motion, especially when vehicles driving in crooked road with variable velocity. It is difficult to get ideal control effect by lateral and longitudinal control system respectively. Thus, to realize the automatic tracking control of vehicles under the complicated driving condition, the lateral and longitudinal coupling vehicle model was established. The model consists of the whole vehicle model, transmission system model and tyre model. According to the control theory of sliding mode control and Dynamic Surface Control (DSC), the problem of dynamic coupling control when vehicles turned with variable velocity was discussed, and a coupling controller was proposed based on the sliding mode control and DSC methods. The simulation results show that the coupling controller possesses strong robust, and its tracking performance is better than that of the controller without coupling compensation.