汽车主动前轮转向与直接横摆力矩协调控制

Coordinated control of active front steering and direct yaw moment for vehicles

为充分利用路面的纵横向附着力,改善车辆的操纵稳定性,提出基于自抗扰解耦技术的主动前轮转向(AFS)与直接横摆力矩(DYC)集成控制方法。基于仿真实验确定发生侧滑时的车辆前轮转向临界角,并用来划分AFS与DYC各自的工作区域。对AFS与DYC的控制进行加权,使AFS控制的退出与DYC控制的介入渐变进行。基于线性二自由度车辆模型设计了AFS与DYC的自抗扰(ADR)集成控制器。在CarSim中建立车辆模型,由Simulink的控制模型进行控制,进行了高低附着路面的双移线实验。AFS与DYC集成控制相对于AFS、DYC分别单独作用,在高附着路面,其横摆角速度最大值分别下降20%和11.8%,质心侧偏角最大值分别下降28.1%和17.9%,侧向加速度最大值分别下降26.1%和20.7%;在低附着路面,其横摆角速度最大值分别下降14.5%和13.3%,质心侧偏角最大值分别下降6.7%和1.4%,侧向加速度最大值分别下降9.7%和3.5%。实验结果表明,该文协调控制策略及集成控制方法能够提高车辆在高低附着路面行驶的稳定性。

In order to make full use of the longitudinal and lateral adhesion of roads and improve the controllability and stability of vehicles,an integrated control method of active front steering(AFS)and direct yaw moment control(DYC)based on the active disturbance rejection decoupling technology is proposed.The front steering critical angle of a vehicle is determined based on simulation test and used to divide the working area of AFS and DYC.The control of AFS and DYC is weighted,and the switch of AFS and DYC is gradual.The active disturbance rejection(ADR)integrated controller for AFS and DYC is designed based on a linear two-degree-of-freedom vehicle model.A vehicle model is built in CarSim and controlled by Simulink’s control model.Double lane change tests of the high and low adhesion roads are carried out.Compared with the independent action of AFS and DYC,the integrated control AFS and DYC reduces the maximum yaw rate by 20%and 11.8%respectively,the maximum sideslip angle by 28.1%and 17.9%respectively,and the maximum lateral acceleration by 26.1%and 20.7%respectively on the high adhesion road;on the low adhesion road,the maximum yaw rates decrease by 14.5%and 13.3%,the maximum sideslip angles decrease by 6.7%and 1.4%,and the maximum lateral acceleration decreases by 9.7%and 3.5%,respectively.The simulation results show that the proposed coordinated control strategy and integrated control method can improve the stability of vehicles driving on high and low adhesion roads.