提高汽车操纵稳定性的控制器设计

为提高汽车操纵稳定性,设计了一种新颖的两级分层操纵稳定性控制系统。分级控制系统的第一层是一基于线性矩阵不等式的鲁棒模型匹配控制器。当汽车处于不稳定行驶状态时,该控制器优化稳定整车操纵性的横摆控制力矩,并根据该横摆力矩计算目标控制车轮的滑移率。控制系统的第二层是一移动滑模控制器。该控制器可以在预定的时间内精确地跟踪第一层控制器输入的参考滑移率,并对目标控制车轮施加制动力矩来达到稳定汽车操纵性的目的。在各种极限行驶状况下的仿真试验表明,该控制器可以有效地提高汽车操纵稳定性,而且该控制器对不同车速,各种附着系数的路面和车辆物理参数的变化具有很好的鲁棒性。

Vehicle Dynamics Controller Design for Improving Vehicle Handling and Stability

A new vehicle dynamics control(VDC) system with a two-layer hierarchical structure was proposed to improve vehicle handling performance and stability. The first layer is a robust model matching controller(R-MMC) based on linear matrix inequalities(LMIs),which optimizes a desired yaw moment to work on the vehicle and calculates reference wheel slip for the target wheel according to the desired yaw moment. The second layer is a moving sliding mode controller(MSMC) that can track the calculated reference wheel slip accurately in a predetermined time by commanding proper braking torque on the target wheel. The simulation results show that the proposed control system is effective and robust when the vehicle is subjected to different critical steering inputs and road surface conditions.