基于后轮转向与制动协同的车辆操控性可调控制方法研究

Research on Vehicle Handling Adjustable Control Method Based on the Integration of Rear Wheel Steering and Braking

为解决后轮转向与制动协同的车辆操控性控制面临的转向不足、控制效果难以标定、控制器设计复杂难于工程应用等问题,提出一种后轮转向和制动的作用强度均可自由调节的控制方法,应用非线性模型设计与前馈/反馈结构,根据设计参数调节控制强度,达到按照期望程度降低车辆质心侧偏角、加快横摆响应速度的效果,并兼顾不足转向度、燃油经济性等指标。此外,该方法提供了基于可调参数进行车辆操控性调校的方法,具有精度高、运算量小、无需质心侧偏角估计及便于标定等优点。

To address the issue of understeer,difficulty in control effect calibration,complex controller design and difficulty in engineering application,this article proposed a novel approach to vehicle handling control by enabling adaptable rear wheel steering and braking intensity.Employing nonlinear model design and a feedforward/feedback structure,this method can adjust control intensity according to design parameters,allows for improving the vehicle’s center of mass sideslip angle according to expectation and enhancing yaw response speed.In addition,the approach also accommodates understeer mitigation and fuel economy optimization.In addition,the proposed method also has other advantages such as high accuracy,small computational complexity,no need for vehicle sideslip angle estimation,and ease of calibration.A method for vehicle handling tuning based on adjustable parameters is also provided.