汽车伪线性内模操稳控制策略建模与仿真

Simulation for Vehicle Handling and Stability Control Based on Pseudo-linear Internal Model Control

针对采用主动制动方式调节汽车操稳性能的系统提出了一种伪线性内模控制算法。首先建立估测算法确定汽车的车身侧偏角和车速,并建立了操稳控制的控制目标,然后引入四自由度车辆模型作为内模控制算法的内部模型,分析了由于制动而引起的非线性特性,并采用了逆系统方法将原来的非线性系统转化为伪线性系统,使得新系统的输入输出成线性关系,并基于此建立了内模控制器实现汽车操稳性能调节,最后采用主动转向和主动制动不同方式的汽车操稳控制系统进行了仿真比较,分析了各自的特点,并给出研究结论。

A pseudo-linear internal model control for vehicle handling and stability control was proposed based on active braking.First,an algorithm was built up to determine vehicle side slip angle and velocity,and the reference yaw rate and vehicle side slip angle were deduced.Then a four degree of freedom vehicle model was introduced as the internal model,its nonlinearity was analyzed as caused by active braking.Then inverse system method was proposed to transfer the nonlinear system into pseudo-linear system with linearized outputs and inputs,on which the internal model controller was built.In the end,different vehicle handling and stability control systems with active braking and active steering were compared by simulations.