高地隙自走式喷雾机横向稳定性滑模控制的研究

Research on the control of the lateral stability sliding film of the high-clearance self-propelled sprayer

针对高地隙自走式喷雾机操纵稳定性控制效果差的问题,本文提出附加横摆力矩控制的操纵稳定性控制策略。先建立包含“Dugoff”非线性轮胎模型的七自由度整车模型,再建立二自由度车辆参考模型,为耦合变量横摆角速度和质心侧偏角提供了理论参考值;然后基于滑模控制理论设计了整车力矩控制器;最后,在前轮转角特定工况和整车低速工作状态下,基于Matlab/Simulink平台进行仿真试验分析。仿真结果表明:本文设计的控制器相比于无控制横摆角速度平均误差绝对值降低7.70%,质心侧偏角降低0.54%,有效提高了车辆低速时的操纵稳定性。

Aiming at the problem of poor control stability and control effect of the high-clearance self-propelled sprayer,a control stability control strategy with additional yaw moment control is proposed.Firstly,a 7-degree-of-freedom vehicle model including the“Dugoff”nonlinear tire model is established;at the same time,a two-degree-of-freedom vehicle reference model is established,which provides a theoretical reference value for the coupling variable yaw rate and sideslip angle of the vehicle;then,a vehicle torque controller is designed based on sliding film control theory;Finally,under the specific working conditions of the front-wheel angle and the low-speed working state,the simulation test analysis is carried out based on the Matlab/Simulink platform.Simulation results show that the controller designed in this paper is compared with the average error of the absolute yaw rate is reduced by 7.70%,and the sideslip angle of the vehicle is reduced by 0.54%,which improves the handling stability of the vehicle at low speed.