车辆稳定性滑模控制器设计

Design of Sliding Mode Controller for Vehicle Stability

汽车的质心侧偏角和横摆角速度对车辆操纵稳定性控制起着至关重要的作用,通常两者都作为控制系统的状态变量。为提高车辆的转向系统操纵性和行驶稳定性,通过简化车辆模型,分析理想二自由度汽车受力状况,将车辆线性二自由度模型作为理想控制目标,计算理想横摆角速度和理想质心侧偏角,同时在滑模控制的理论基础上,设计基于质心侧偏角和横摆角速度反馈的自适应趋近率滑模控制器。最后使用Carsim搭建整车模型和提供仿真工况,通过与Simulink中的自适应趋近率滑模控制器进行联合仿真,验证所设计的控制器使双移线工况中的车辆横摆角速度响应和质心侧偏角响应在峰值处分别优化了5.5%左右和20.0%以上,能有效改善汽车质心侧偏角和横摆角速度对理想值的跟踪效果,提高汽车的操纵稳定性。

The lateral yaw angle and yaw speed of the vehicle center of mass play a crucial role in the control of vehicle handling stability,and they are usually used as state variables of the control system.In order to improve the steering system maneuverability and driving stability of the vehicle,this paper analyzes the stress condition of the ideal two-degree-of-freedom vehicle by simplifying the vehicle model,takes the linear two-degree-of-freedom model of the vehicle as the ideal control target,calculates the ideal yaw velocity and the ideal centroid side deflection angle,and at the same time,on the basis of the theory of sliding mode control,an adaptive approach rate sliding mode controller is designed based on the feedback of lateral deflection angle and yaw velocity of the center of mass.Finally,Carsim was used to build the vehicle model and provide simulation conditions.Through co-simulation with the adaptive reach rate sliding mode controller in Simulink,it was verified that the designed controller optimized the vehicle yaw velocity response and the response of centroid side deflection angle at the peak value of 5.5%and 20.0%respectively in double-shift working conditions.It can effectively improve the tracking effect of the vehicle center of mass side deflection angle and yaw angle speed to the ideal value,and improve the handling stability of the vehicle.