考虑状态获取的主动前轮转向与主动横向稳定杆多目标集成控制

Multi-objective Integrated Control of Active Front Steering and Active Anti-roll Bar Considering State Acquisition

考虑控制系统面向应用时算法中的状态获取问题,基于UKF状态观测系统,对主动前轮转向与主动横向稳定杆进行操稳性及抗侧倾多目标集成控制以综合提高车辆的侧向稳定性及侧倾稳定性。建立了9自由度整车动力学模型,通过无迹卡尔曼滤波方法,构建了整车状态观测器;采用滑模控制算法,分别基于主动前轮转向系统设计了操稳性控制器、基于主动横向稳定杆系统设计了抗侧倾控制器以实现车身侧倾按需控制;针对轮胎垂向载荷与侧向动力学的耦合影响,采用PID控制算法动态调整前后主动横向稳定杆扭矩分配系数,实现对车辆抗侧倾与操稳性集成控制。最后,对多目标集成控制系统进行了鱼钩实验仿真,结果表明设计的集成控制器在实现车身侧倾按需控制的同时,有效改善了车辆操纵稳定性。

Considering the state acquisition for control law of the control system when facing applications, based on the UKF state observation system, the multi-objective integrated control of handling stability and anti-roll of active front steering and active antiroll bar is carried out to comprehensively improve the vehicle lateral stability and roll stability. A 9-DOF vehicle dynamics model is established, and a state observer is constructed with the unscented Kalman filter method. The sliding mode variable structure control algorithm is adopted, and the handling stability controller is designed for the active front steering system, and the anti-roll controller is developed for the active anti-roll bar system to realize the on-demand control of body roll. Considering the coupling influence of the tire vertical load and lateral force, the PID control algorithm is used to dynamically adjust the torque distribution coefficient of the front and rear active anti-roll bars to achieve integrated control of vehicle anti-roll and handling stability. Finally, the fishhook test is simulated for the multi-objective integrated control system. The results show that the present integrated controller can effectively improve the vehicle stability while achieving the on-demand control of body roll.