三轴车辆转向制动稳定性控制器设计与仿真

Design and Simulation of the Steering and Braking Stability Controller for Triaxial Vehicles

三轴车辆高速在转向中,若对车辆进行制动,将会导致车辆各车轮垂直载荷重新分配,垂直载荷的变化导致车辆外侧车轮侧向力增加,而内侧车轮的侧向力则会减少,这都将导致车辆打破原有的平衡而出现过度转向和车辆甩尾侧滑,因此需要一个转向制动控制系统来保证车辆的行驶稳定性。基于此,运用模糊控制理论设计了一个横摆力矩控制器并拟定了该控制器与ABS系统协同作用时的控制策略,经过仿真分析得到了该系统能够有效维持车辆稳定的结论。

If the triaxial vehicle is braking during steering with high speed,it will result in the redistribution of vertical load of each wheel. The change of vertical load increases the lateral force on the outer side of the wheels and reduces the inner side ones. All these breaks the original balance of vehicle and it appears over steering and sideslipping,so that the steering and braking control system is needed to keep the stability. In this article,the fuzzy control theory is used to design a yaw moment controller and a synergy system for ABS and yaw moment controller is proposed. The conclusion is obtained which the system could keep the stability by the simulation and analysis.