基于主动横向稳定杆和AFS的车辆稳定性协调控制

Coordinated control of vehicle yaw and roll stability based on ARS and AFS

根据车辆的基本动力学特性,分析了轮胎非线性对于车辆横摆稳定性的影响,建立了包括主动横向稳定杆与AFS的整车动力学模型。根据主动横向稳定杆和AFS两个系统的运动耦合关系,分别设计了主动横向稳定杆与AFS的各个子控制器,并设计了前后主动防侧倾力矩分配模糊PID控制器,实现两个子系统的协调控制,提高了车辆转向时的侧倾与横摆稳定性。在MATLAB/Simulink环境中,对车辆在转向工况下进行了仿真研究,利用Carsim软件对仿真结果进行了验证,结果证明了两者协调控制策略的有效性。

The influence of nonlinear tires on the vehicle yaw stability was researched. The dynamics model of a full vehicle equipped with an active roll stabilizer and an active front steering system was set up based on the vehicle dynamics theory. Also a controller combining the active roll stabilizer and active front steering system was designed based on the motion coupling relationships between them. Moreover, an active fuzzy PID controller for regulating the anti-roll moment distribution was designed to coordinate the two systems and enhance the vehicle roll and yaw stability during steering. The vehicle in the steering situation was simulated with the MATLAB/Simulink, and the simulation results were verified by using the Carsim software. The results show the effectiveness of the proposed coordinated control strategy.