摘要
针对车辆在转弯或变道引起的车辆稳定性控制问题,建立了用于稳定性控制的3自由度非线性动力学模型。文中将车辆横摆角速度、质心侧偏角作为主要控制变量。基于模糊滑模控制理论,采用直接横摆力矩控制方法控制横摆角速度和质心侧偏角,其中考虑到质心侧偏角难以通过传感器测量,设计了基于递归最小二乘法的质心侧偏角估计方法。同时,在基于Matlab与ADMAS联合调试的环境下进行了仿真分析,仿真结果表明该控制器能有效地使横摆角速度和质心侧偏角跟踪其期望值,使汽车保持在安全稳定的范围内。
In view of the vehicle stability handling caused by cornering or path changing,a 3-DOF nonlinear vehicle dynamic model is built. The yaw rate and sideslip angle are employed as the main state variables. Direct yaw moment is used to control the yaw rate and the sideslip angle by sliding model control based on fuzzy control theory.This paper also presents a new method for estimating the sideslip angle based on the recursive least squares（ RLS）algorithm,considering the sideslip angle is hard to measure. The simulation results based on Matlab and ADAMS indicate that the yaw rate and sideslip angle can trace the desired ones,and can keep vehicles in safety.
出处
《电子科技》
2015年第7期165-168,共4页
Electronic Science and Technology
关键词
模糊滑模
直接横摆力矩
质心侧偏角估计
递归最小二乘法
sliding model control with fuzzy algorithm
direct yaw moment
sideslip angle estimation
recur-sive least squares
