汽车DYC系统的二阶滑模控制

Second-Order Sliding Mode Control of Vehicular DYC System

为提高汽车直接横摆力矩控制(DYC)系统的精度和鲁棒性,提出了DYC二阶滑模(SOSM)控制策略.为了发挥滑模控制的优势并抑制其固有的颤振现象,基于高阶滑模控制理论设计了DYC的上层控制器——二阶滑模变结构车身运动控制器,并采用螺旋控制算法设计滑模控制律;为了产生维持车辆稳定所需的目标横摆力矩,在目标滑移率自动识别的基础上,采用逻辑门限值控制方法设计了DYC下层控制器——滑移率控制器.在Matlab/Simulink和veDYNA车辆动力学仿真环境下建立了汽车DYC硬件在环/驾驶员在环仿真测试平台,并采用该仿真平台对所提出的DYC控制策略进行了评价.结果表明该控制算法在极限工况下可较好地提高车辆的行驶稳定性,显著提高车辆的主动安全性能.

In order to improve the accuracy and robustness of the vehicular direct yaw-moment control（DYC） system,a second-order sliding mode（SOSM） control strategy is proposed.In this strategy,first,the upper controller of DYC,namely the body locomotion controller,is designed based on the higher-order sliding mode theory,which is used to take the advantages of sliding mode control and restrain the inherent flutter,and,the corresponding sli-ding mode control law is designed based on the spiral control algorithm.Then,the lower controller of DYC,namely the slip controller,is designed based on the automatic objective slip identification and the logic threshold control,which is employed to generate the objective yaw-moment maintaining the vehicle stability.Moreover,a hardware-in-loop/driver-in-loop test platform is built in the environment of Matlab/Simulink and veDYNA,on which the proposed DYC strategy is evaluated.The results show that the proposed control algorithm greatly improves the driving stability of vehicles under extreme conditions and significantly enhances the active safety performance of vehicles.