基于滑模控制的车辆主动转向硬件在环实验分析

EXPERIMENTAL ANALYSIS OF ACTIVE STEERING HARDWARE-IN-LOOP BASED ON SLIDING MODE CONTROL

为了提高重型车辆在转向过程中的稳定性和安全性,本文提出了一种基于滑模变结构控制的主动前轮转向控制策略,基于这种策略设计了主动转向控制器,建立了三轴商用车的二自由度车辆动力学简化模型及整车模型,利用TruckSim–Simulink建立联合仿真平台以及进行硬件在环实验。在不同工况、不同车速下,分别对有无主动转向控制器的车辆进行了操纵稳定性分析,并在此基础上进行了滑模变结构控制的主动转向影响因素敏感性分析。实验结果表明,这种控制器策略在不同工况下具有较强的适应性。

In order to improve the safety of heavy-duty vehicles in the steering process, this paper proposes an active front wheel steering control strategy based on the sliding mode variable structure control. With this strategy in mind, an active steering controller is designed. A simplified vehicle dynamics model with two degrees of freedom and a model for a three-axle commercial vehicle are established. The co-simulation platform is built with TruckSim and Simulink, and the hardware-in-loop experiment is carried out. Under different working conditions and at different speeds, the steering stability analysis of the vehicle with or without the active steering controller is carried out. Based on this, the sensitivity analysis of the active steering influencing factors of the sliding mode variable structure control is carried out. The experimental results show that this controller strategy has a good adaptability under different working conditions.