基于模糊滑模直接横摆力矩的车辆横摆稳定性控制

Vehicle Yaw Stability Control Based on Fuzzy Sliding Mode Direct Yaw Moment

为了避免车辆发生横向失稳的风险,根据四轮独立驱动电动汽车四轮驱动/制动力矩独立可控的特点,提出了一种具有上层控制器和下层控制器两层结构的模糊滑模直接横摆力矩控制策略。上层控制器采用模糊滑模控制器计算车辆总的需求横摆力矩,并对4个车轮纵向力进行分配。下层控制器将轮胎纵向力转化为对轮胎滑动率的控制,并通过控制4个车轮的力矩使轮胎纵向力得到实现。仿真结果表明,该模糊滑模直接横摆力矩控制策略在不同的附着路面条件下都能保证车辆的横向稳定性,并能削弱传统滑模控制器造成的系统抖振。

To avoid the risk of lateral instability of the vehicle,based on the independent controllability of the four-wheel drive/braking torque of the four-wheel independent drive electric vehicle,a fuzzy sliding mode direct yaw moment control strategy with a two-layer structure of an upper controller and a lower controller was proposed.In the upper controller,a fuzzy sliding mode controller was used to calculate the total required yaw moment and distribute the longitudinal forces of the four wheels.In the lower controller,the tire longitudinal force was transformed into the control of tire slip rate,and the tire longitudinal force was realized by controlling the torque of the four wheels.The simulation results show that the fuzzy sliding mode direct yaw moment control strategy can ensure the lateral stability of the vehicle under various road conditions,and can weaken the system chattering caused by the traditional sliding mode controller.