基于侧偏角估计的汽车稳定性控制仿真研究

Simulation of Vehicle Stability Control Based on Sideslip Angle Estimation

在极限工况下,汽车转向过程很容易失去控制造成不必要的交通事故,为了提高汽车在极限工况下的稳定性,提出了汽车转向过程的稳定性控制系统。利用UKF设计观测器估计质心侧偏角和横摆角速度,通过质心侧偏角和横摆角速度估计值与理想值之差设计滑模控制器,确定汽车稳定行驶所需横摆力矩并考虑实际约束条件进行力矩分配实现汽车的稳定性控制。为验证算法的有效性,分别在蛇形工况和双移线工况下进行仿真。仿真结果显示,设计的观测器可以比较准确的估计质心侧偏角和横摆角速度,稳定性控制系统可以有效的提高汽车转向过程的稳定性,具有一定的实用价值。

Under extreme conditions,vehicle steering process is easy to lose control and cause unnecessary traffic accidents.In order to improve the vehicle stability under extreme conditions,a sliding mode control algorithm is proposed to control vehicle stability.The sideslip angle and yaw rate were estimated with UKF estimator,the sliding mode controller was designed according to the difference between estimated value and ideal value,and the yaw moment was determined.Considering the actual constraint conditions,the determined yaw moment was allocated to realize the vehicle stability control.To verify the effectiveness of the algorithm,the simulations were conducted in the snake condition and Double Lane Change condition.The simulation results show that the designed observer can estimate sideslip angle and yaw rate accurately,the designed sliding mode control algorithm can improve the vehicle steering stability effectively and it has a certain practical value.