| 采用横摆力矩优化分配方法的车辆稳定性控制系统 |
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| 引用本文： | 罗虹,张立双,来飞,陈星.采用横摆力矩优化分配方法的车辆稳定性控制系统[J].重庆大学学报(自然科学版),2010,33(10):19-24. |
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| 作者姓名： | 罗虹 张立双 来飞 陈星 |
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| 作者单位： | 重庆大学,机械工程学院,重庆,400044;重庆大学,机械工程学院,重庆,400044;重庆大学,机械工程学院,重庆,400044;重庆大学,机械工程学院,重庆,400044 |
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| 基金项目： | 重庆市重大科技攻关项目（CSTC，2008AA6030） |
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| 摘 要： | 为提高车辆的操纵稳定性,设计了采用横摆力矩优化分配方法的车辆稳定性控制系统。控制系统的上层采用基于最优理论的横摆力矩控制器,该控制器根据校正横摆力矩来计算目标控制车轮的参考滑移率;下层是PID控制器,它跟踪上层控制器的参考滑移率,对目标车轮施加制动力矩从而使车辆稳定。采用八自由度非线性车辆模型在不同工况下进行仿真,结果表明所设计的控制系统能够有效地改善车辆的操纵稳定性。
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| 关 键 词： | 车辆稳定性 直接横摆力矩 最优控制 PID 控制 滑移率 |
| 收稿时间： | 2010/4/29 0:00:00 |
Vehicle stability control system design using optimal allocation of yaw moment |
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| LUO Hong,ZHANG Li-shuang,LAI Fei and CHEN Xing.Vehicle stability control system design using optimal allocation of yaw moment[J].Journal of Chongqing University(Natural Science Edition),2010,33(10):19-24. |
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| Authors: | LUO Hong ZHANG Li-shuang LAI Fei and CHEN Xing |
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| Institution: | College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China |
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| Abstract: | In order to improve vehicle handling stability,a control system using optimal allocation of yaw moment was designed.The first layer is a linear quadratic regulator (LQR) controller,which optimizes a desired yaw moment to work on the vehicle and calculates reference wheel slip for the target wheel.The second layer of the control system is a PID controller which can track the reference wheel slip rate,and then apply braking torque on the target wheel to make the vehicle stable.Simulations are carried out by using an 8-dof nonlinear vehicle model under different conditions.The simulation results indicate that the designed control system can effectively improve vehicle handling stability. |
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| Keywords: | vehicle stability direct yaw moment optimal control PID control slip rate |
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