基于直接横摆力矩控制的车辆横向稳定性研究

Research on Lateral Stability of Vehicle Based on Direct Yaw Moment Control

为提高车辆行驶时的操作稳定性和安全性,可通过搭建直接横摆力矩控制器来实现。首先,根据质心侧偏角和横摆角速度为输入参量,采用变结构滑模控制理论设计直接横摆力矩控制器。再基于横向稳定性系数设计汽车横向稳定性边界,判断直接横摆力矩控制器介入时机,并根据制定的车轮受控制规则得到四个车轮对应的调节力矩。最后通过联合仿真验证,表明所选控制策略能够很好地提高车辆横摆角速度和质心侧偏角的响应界值,极大地提升了车辆在低附着路面上高速行驶时的横向稳定性。

In order to improve the operational stability and safety of a driving vehicle,a direct yaw moment controller can be built to achieve this.Firstly,according to the center of mass sideslip angle and yaw rate as input parameters,the direct yaw moment controller is designed by using the variable structure sliding mode control theory.Then the lateral stability boundary of the vehicle is designed based on the lateral stability coefficient,and the timing of the direct yaw moment controller is judged,then the corresponding adjusting moments of four wheels are obtained according to the established wheel control rules.Finally,the co-simulation results show that the selected control strategy can improve the vehicle's yaw rate and center of mass sideslip angle response threshold,and greatly improve the vehicle's lateral stability when driving at high speeds under low adhesion coefficient.