车辆横摆与侧倾稳定性控制研究

Study on the control of yaw and roll stability of the vehicle

为实现对车辆的侧倾控制,自主设计了主动横向稳定杆(Active Anti-Roll Bar,AARB)装置。针对车辆在侧倾中存在非线性、时变性的特点,采用滑模变结构控制理论建立了滑模控制器实现对理想侧倾角的跟踪,保证了车辆的侧倾稳定性。由于在采用AARB控制车辆侧倾时,存在车辆失稳的特点,文中提出采用电子稳定性程序(Electronic Stability Program,ESP)及设计模糊控制器对带有AARB车辆的失稳进行控制,并进行了仿真试验。仿真结果表明,该集成控制能有效控制车辆的侧翻与失稳,有效提高了车辆的横摆与侧倾稳定性。

In order to control the rolling of the vehicle,the Active Anti-roll Bar（AARB） is designed. Based on the non-linear,time-varying characteristics in the roll motion,a sliding mode controller is designed,so as to track the ideal roll angle,thus ensuring the roll stability of the vehicle. However,this approach has a drawback-the process of rolling prevention produces instability of the vehicle. To overcome this drawback,in this paper,Electronic Stability Program（ESP） with the fuzzy controller is employed,in order to control the instability of the AARB vehicle,and a series of simulation experiments are conducted. The results show that the integrated control system can effectively control the rolling and instability of the vehicle,and enhance the yaw and roll stability of the vehicle in an effective manner.