基于BLF全状态约束的直接横摆力矩控制

Direct yaw moment control of with full state constraints using Barrier Lyapunov Function

为了提高车辆在行驶过程中的横向稳定性,采用了障碍李雅普诺夫函数(Barrier Lyapunov Function,BLF)对车辆横向稳定性控制进行研究,以质心侧偏角和横摆角速度为状态变量,以质心侧偏角和横摆角速度的稳定边界为约束条件,设计全状态约束控制器。通过Matlab/Simulink对所设计的全状态约束控制器进行了验证。仿真结果表明,在设定工况下,质心侧偏角能够始终跟随理想质心侧偏角,并约束在0.035 rad内,横摆角速度始终约束在0.2 rad/s内,即确保全状态始终约束在边界值内。

In order to improve the lateral stability of the vehicle during driving,the Barrier Lyapunov Function(BLF)is used to study the lateral stability control of the vehicle.The side slip angle and the yaw rate are used as state variables.The stability boundary of the slip angle and the yaw rate is the constraint condition,and a full⁃state constraint controller is designed.The designed full⁃state constrained controller was verified by Matlab/Simulink.The simulation results show that under the set working conditions,the center of mass slip angle can always follow the ideal center of mass slip angle,and is constrained within 0.035 rad,and the yaw rate is always constrained within 0.2 rad/s,that is,to ensure that the full state is always constrained within Within the boundary value.