基于动态表面理论的车辆制动与悬架协调控制

Cooperative Control of Vehicle Brake and Active Suspension Based on Dynamic Surface Control

建立了七自由度车辆非线性动力学模型,车轮制动模型以及非线性轮胎模型,以缩短制动距离和制动时间而不大幅降低舒适性作为控制策略的出发点,将主动制动与主动悬架系统进行协调控制,采用动态表面控制理论,克服了反演设计中激增项问题,依据协调控制思想,分别对制动与悬架系统设计了协调控制器,并对协调控制与非协调控制进行了仿真对比分析。结果表明:对主动制动和主动悬架系统采用协调控制,可在小幅降低舒适性的情况下获得更大的地面制动力,进一步提高了车辆的制动安全性,表明了该控制方法的有效性。

In order to reduce the brake distance and brake time without lowering the ride comfort greatly, a 7 DOF nonlinear vehicle model, wheel braking model and nonlinear tire model were built. Active brake system was cooperated with active suspension. And Dynamic Surface Control theory was adopted to avoid the problem of ＂explosion of terms＂ suffered by backstepping. According to the idea of cooperative control, the cooperative controllers were designed for active brake system and active suspension system respectively, and the simulation contrast between cooperative control and non-cooperative control was made. The simulation results show that much greater ground brake force can be achieved with slight comfort decrease by cooperative control between active brake system and active suspension system, which further improves the brake safety of vehicle, and verifies the availability of the controllers.