车辆防侧翻横摆力矩最优控制策略研究

Study on vehicle rollover prevention yaw moment optimal control strategy

为提高车辆在危险工况下的防侧翻性能,本文利用差动制动及主动转向两种控制方式对车辆进行防侧翻最优控制研究。在系统动力学模型和相关轮胎模型的基础上,利用模糊控制方法设计控制系统的上层控制器,利用防止车辆侧翻所需的矫正横摆力矩,采用主动转向和差动制动协调控制从而得到最佳矫正横摆力矩的方法来控制车辆的侧翻,并进行了仿真分析。结果表明,运用这两种控制方式对车辆进行最优控制时,两种控制方式产生的矫正横摆力矩达到最优,有效地降低了车辆在弯道路段的侧向加速度,提高整车的防侧翻性能,能够快速准确地使车辆恢复稳定。利用Matlab对控制系统进行了仿真与分析,仿真结果验证了所提出控制方法及控制策略的有效性,与未采用防侧翻控制系统的仿真结果相比,整车的主动安全性得到提高。

In order to improve the performance of the vehicle anti-rollover active safety in dangerous working conditions,this paper studies on the active steering and differential braking technology,and the optimal control technology to the anti-rollover.Based on system dynamic model and relevant tire model,the upper controller control system has designed based on the fuzzy control method.Take advantage of the corrective yaw moment of the vehicle anti-rollover desired,and using the active steering control method and differential braking control method of coordinated control,the best corrective yaw moment has achieved of the vehicle anti-rollover required,and simulation analysis has carried out.The results shows that,when use these two kinds of control methods of optimal control for the vehicle,the optimal corrective yaw moment achieved through the two kinds of control methods.It effectively reduces the lateral acceleration in the curved section of the vehicle,and improved the anti-rollover ability,and makes the vehicle restore stability quickly and accurately.The control system has simulated and analyzed by Matlab,the simulation results verifies the effectiveness of the proposed control method and control strategy.Compared with the results of the simulation without using the anti-rollover control system,the active safety performance of the vehicle has been enhanced.