一种新型的车辆稳定性分层控制策略

A New Hierarchical Control Concept of Vehicle Stability Control

为了优化稳定性控制算法,提出并仿真分析了一种新型的车辆稳定性分层控制策略。该控制策略由上下两层组成,上层控制器基于最优控制理论的横摆力矩控制策略,下层控制器采用最优分配法,将修正横摆力矩合理分配到各车轮上。基于MATLAB/Simulink建立了八自由度非线性车辆模型,并对该模型进行了实车实验验证,然后基于该模型对该控制策略进行了仿真分析,验证了此分层控制策略的有效性。仿真结果表明,在大侧向加速度和大侧偏角的极限工况下,所设计的新型控制系统能够有效地改善车辆的操纵稳定性。

In order to improve the vehicle stability control algorithm,a new hierarchical control concept is raised and analyzed.This new control algorithm consists of two levels of control:the upper-level controller is designed based on optimal control of the yaw moment,and the lower-level controller uses the optimal distribution method,which distributes the corrected yaw moment optimally to each wheel.The whole control strategy is simulated by using a non-linear vehicle model with eight degrees of freedom in MATLAB/Simulink environment,and the effectiveness of the new control concept is verified by simulation with this model.It is found out by the simulation that vehicle stability can be greatly improved by using this newly designed control system in extreme conditions with large lateral acceleration and large slip angle.