摘要
汽车电子稳定控制系统在行车安全方面发挥着极其重要的作用,对稳定控制系统的横摆控制研究可以分为2个层次进行。上层为控制器设计,先采用反馈线性化思想将车辆动力学模型进行线性化处理,再采用线性二次型调节器进行优化控制器设计,以产生期望的力(矩);下层采用最优控制算法进行制动力分配,用加权最小二乘法将稳定性控制力(矩)最优的分配到各车轮的执行器上,以满足车辆稳定性行驶的要求。在Matlab中搭建整车模型并进行仿真验证,结果表明,基于以上方法的车辆横摆稳定性控制能很好的跟踪上期望的纵向速度、横向速度以及横摆角速度。
ESC(Electronic Stability Control)plays an important role in traffic safety.The study of stability control system can be divided into two levels.First,a high-level controller design:the vehicle dynamics model is linearized by feedback linearization,and then the optimal controller is designed by using the linear quadratic regulator in order to generate the desired force(moment).Second,a low-level uses the optimization algorithm to distribute the brake force.In this paper,a weighted least square method is used to optimally distribute the control force(moment)to the actuator of each wheel to meet the requirement of vehicle stability.The vehicle model is built and simulated in MATLAB.The results show that the vehicle stability control based on the proposed methods can track the desired longitudinal velocity,lateral velocity and yaw rate.
作者
王丽华
葛平鑫
杜婉彤
王德军
WANG Li-hua;GE Ping-xin;DU Wan-tong;WANG De-jun(College of Communication,Jilin University,Changchun 130012,China)
出处
《控制工程》
CSCD
北大核心
2020年第8期1429-1433,共5页
Control Engineering of China
基金
国家自然科学基金国际(地区)合作与交流重点项目(61520106008)。
关键词
车辆动力学
反馈线性化
线性二次型调节器
控制分配
加权最小二乘法
Vehicle dynamics
feedback linearization
linear quadratic regulator
control allocation
weighted least square method
