基于快速终端滑模的汽车底盘集成控制

针对汽车主动前轮转向子系统和直接横摆力矩控制子系统的集成控制问题,基于快速终端滑模控制理论设计一种标定参数少和动态响应速度快的鲁棒集成控制器.首先,基于达朗贝尔原理建立包含车身侧向和横摆运动自由度的汽车动力学模型作为底盘集成控制模型.随后,基于快速终端滑模控制理论分别设计主动前轮转向控制律和直接横摆力矩控制律,并且通过汽车质心侧偏角相平面定义的平滑切换因子建立二者的切换规则,实现主动前轮转向子系统和直接横摆力矩控制子系统的平滑切换控制,并且将主动前轮转向子系统和直接横摆力矩控制子系统的主要工作区域分别控制在轮胎的线性区域和非线性区域.最后,结合车辆动力学仿真软件对所提出的鲁棒集成控制器的可行性和有效性进行验证,结果表明:所提出的底盘集成控制器可以同时兼顾汽车操纵稳定性和乘坐舒适性.

Integrated Vehicle Chassis Control Based on Fast Terminal Sliding Mode

This paper presents an integrated vehicle chassis robust controller with fewer calibration parameters and faster dynamic response for the integrated control problems of active front wheel steering subsystem and direct yaw moment control subsystem, based on the fast terminal sliding mode control theory. Firstly, a vehicle dynamic model with lateral and yaw degrees of freedom is established based on D ''Alembert principle, and it is used as an integrated vehicle chassis control model. Then, an active front wheel steering control law and a direct yaw moment control law are designed based on the fast terminal sliding mode control theory, respectively. A smooth switching rule is established based on smooth switching factor defined by the phase plane of the vehicle sideslip angle and its derivative to realize the smooth switching control between the active front wheel steering subsystem and the direct yaw moment control subsystem. Meanwhile, the smooth switching rule can confine the main working areas of the active front wheel steering subsystem and the direct yaw moment control subsystem to the linear and non-linear areas of the tires, respectively. Finally, the feasibility and effectiveness of the proposed integrated vehicle chassis robust controller are verified based on vehicle dynamics simulation software. The results show that the proposed controller can take into account both vehicle handling stability and ride comfort.