电动校车防侧翻稳定性控制研究

Study of Roll Stability Control of the Electric School Bus

基于横摆力矩控制的侧翻控制方法能够显著提高车辆的侧翻稳定性,但现有的横摆力矩控制方法未考虑轮胎侧向力和附加横摆转矩的参数范围,控制效果难以达到最优。针对上述问题,结合轮胎非线性模型建立了包括纵向运动、侧向运动和横摆运动的3DOF车辆系统非线性动力学模型;在考虑名义横摆角速度、轮胎侧向力极值和横摆转矩极值的前提下,采用横向载荷转移率(LTR)动态指标对车辆侧翻进行风险识别,提出了以横摆力矩为控制变量的电动校车侧翻模糊控制方法。在鱼钩转向和阶跃转向工况下对控制方法进行了仿真分析。结果表明,在避免大转角鱼钩转向工况下,考虑控制参数极限的车辆防侧翻稳定性控制方法能够抑制车辆的侧翻,为开发高效可靠的电动车辆底盘控制方法提供理论基础。

The rollover control method based on yaw moment control can effectively improve the vehicle roll stability of the vehicle, but the parameter range of tire lateral force and yaw torque need to be considered, otherwise the control effect is not ideal. A 3DOF vehicle dynamic model considering the longitudinal ,lateral and yawing motions is proposed in the paper. Take into account of nominal yaw rate, tire lateral force limit and yaw torque limit, a fuzzy roll- over- control method for electric bus is developed, which takes yaw moment as control variable and dynamic index LTR as rollover risk identification factor. The simulation test was carried out under hooks and step steering condi- tions. The results show that, the direct yaw moment controller considering the control limit has satisfied control effect and can improve the vehicle stability under the premise of avoiding large hook steering. The results can provide a the- oretical basis for the development of efficient ＆ reliable chassis control method for electric vehicles.