基于LQR的汽车横摆力矩控制研究

Study on Vehicle Yaw Moment Control Based on LQR

针对汽车极限工况稳定性控制问题,论文基于最优控制理论LQR进行了汽车横摆力矩控制研究。建立了整车七自由度动力学模型,设计了LQR附加横摆力矩控制算法。为了提高制动稳定性,相对于传统单轮制动研究了单侧两轮附加横摆力矩分配方法。最后选择增幅正弦转向低附着路面行驶工况对控制算法进行了验证。仿真结果表明所研究的控制算法能够有效提高汽车极限工况行驶稳定性。

For vehicle stability control problem in limiting driving conditions,Vehicle Yaw Moment Control Based on LQR was studied in this paper.The 7 DOF vehicle dynamic model was established.The yaw moment control algorithm based on LQR was designed.For additional yaw moment distribution and to improve braking stability,two wheels brake in one side method was studied compare to the traditional single wheel brake.The low-adhesion road sinusoidal driving conditions was selected to verify the control algorithm.The simulation results show that the control algorithm was effective to improve vehicle stability in limit driving conditions.