提高汽车操纵稳定性的联合控制研究

Combination Control Research for Improving Vehicle Handling and Stability

为了弥补汽车动力学独立主动控制系统的不足,研究了主动前轮转向(AFS)和横摆力矩控制(DYC)的联合控制策略。运用滑模控制理论,设计主动前轮转向控制器,控制汽车的横摆角速度。基于最优控制理论,设计横摆力矩控制器,通过前馈控制调整侧偏角,状态反馈控制调整横摆角速度和侧偏角。线性二自由度开环汽车模型仿真结果表明,无论是低速还是高速,联合控制方法能够有效地同时控制汽车的侧偏角和横摆角速度,提高了汽车操纵稳定性。

The combination of active front steering （AFS） and direct yaw-moment control （DYC） is used to make up for a lack of stand-alone active vehicle dynamics control system. By the sliding mode theory, AFS controller is designed to control the yaw rate of the vehicle. Basing on the optimal control theory,the DYC controller is designed by the feed forward of the sideslip angle regulation and the state feedback of both yaw rate and sideslip angle. The simulation results of the two degrees of freedom linear open-loop vehicle model show that both the low-speed and the high-speed,the combination control method can effectively control the sideslip angle and yaw rate synchronously, and improve vehicle handling and stability.