摘要
针对线控转向车辆转向时前轮转角跟踪及车辆稳定性控制问题,提出了关于车辆横向稳定性的分层控制策略。建立了线控转向执行机构二阶模型,通过构造Lyapunov函数设计转向执行机构径向基函数网络自适应滑模控制器来保证控制器的稳定性,以保证前轮转角跟踪的准确性;其次基于扩张状态观测器设计滑模控制器进行上层控制,用以跟踪期望横摆角速度,决策出转向执行机构的最终前轮转角,从而改善车辆转向时的操纵稳定性;通过MATLAB/Simulink和Carsim联合仿真结果显示,所提出的控制策略提升了车辆转向性能和行驶稳定性。
Aiming at the problems of the front wheel angle tracking and the vehicle stability control of the steer-by-wire vehicle,a control strategy of the vehicle lateral stability is proposed.The second-order model of SBW actuator is established,and a Raial basis function network adaptive sliding mode controller of steering actuator is designed to ensure the stability of the controller and the accuracy of the front wheel angle tracking by constructing Lyapunov function.Secondly,a sliding mode controller is designed based on the extended state observer to track the desired yaw rate and calculate the final front wheel angle to improve the vehicle stability.The simulation results of MATLAB/Simulink and CarSim show that the proposed controller improves the steering performance and driving stability of the vehicle.
作者
陈林彬
唐岚
CHEN Lin-bin;TANG Lan(School of Automobile and Transportation,Xihua University,Sichuan Chengdu 610039,China)
出处
《机械设计与制造》
北大核心
2024年第2期204-209,共6页
Machinery Design & Manufacture
基金
四川省科技厅重点研发项目(2019YFG0042)
四川省科技厅国际合作项目(2018HH0125)。
关键词
线控转向系统
稳定性控制
滑模控制
径向基函数网络
Steer-by-Wire System
Stability Control
Sliding Mode Control
Radial Basis Function Network
