基于滑模变结构控制的SUV稳定性研究

Study of SUV Stability Based on Sliding Mode Variable Structure Control

针对SUV侧倾稳定性较差的问题,提出了基于滑模变结构控制的方法。首先建立3-DOFSUV横向-侧倾动力学模型;基于理想的质心侧偏角和横摆角速度,分别设计了以期望质心侧偏角、期望横摆角速度和兼顾两期望值为控制目标的基于指数趋近律的滑模控制器;然后基于Matlab/Simulink建立SUV车辆模型与滑模控制策略,选取典型试验工况进行仿真分析。仿真结果表明:兼顾两期望值的控制策略能较好地使车辆的横摆角速度、质心侧偏角、侧倾角的动态响应满足控制要求。

In view of the SUV poor roll stability,a sliding mode variable structure control method was proposed.Firstly,a 3-DOF yaw-roll dynamic model of SUV was established.Based on the ideal lateral slip angle and yaw rate,the sliding mode controllers based on exponential approach rate were designed,where the control objectives are the desired centroid slip angle,desired yaw rate and both of two desired values respectively.The SUV model based on sliding mode control strategy was established by Matlab/Simulink,and the yaw-roll stability simulation analysis was performed under the typical test conditions.The simulation results show that the control strategy that takes into account both of two expected values can better make the dynamic response of the vehicle′s yaw rate,centroid slip angle and roll angle meet the control requirements.