动态预测车辆LTR的侧向稳定性滑模控制研究

Sliding Mode Control for Vehicle Lateral Stability Based on LTR Dynamic Prediction

为提高车辆在转向过程中的侧向稳定性,以车辆行驶过程中的横向载荷转移率作为控制目标,建立基于横向载荷转移率的车辆侧向稳定性动态预测方法,提出滑模变结构控制器结合差动制动控制原理实时调控各车轮制动力的方法,改善车辆在行驶过程中的转向性能及制动性能。采用CarSim-Matlab/Simulink进行联合仿真以验证该方法的有效性,验证过程选取Fish-Hook和角阶跃两种工况进行测试分析,结果表明,所搭建的预测及控制算法能有效预测到车辆的侧向运动状态并改善车辆的侧向稳定性。

To improve the vehicle lateral stability in the steering process,and in the process of vehicle lateral load transfer rate as control target,based on lateral load transfer rate of the vehicle lateral stability dynamic prediction method,the proposed sliding mode variable structure controller combined with differential braking control principle of the real-time control of each wheel braking method,improve the vehicle steering performance in the process of driving and braking performance.Carsim-Matlab/Simu-link co-simulation was used to verify the effectiveness of the method.In the verification process,Fish-Hook and angular step were selected for test and analysis.The results showed that the established prediction and control algorithm could effectively predict the lateral motion state of the vehicle and improve the lateral stability of the vehicle.