汽车线控转向系统稳定性控制策略研究

Research on the stability control strategy of vehicle steer-by-wire system

以汽车线控转向系统为研究对象,构建滑模观测器对汽车质心侧偏角进行实时估计,用于主动前轮转向控制器设计。以汽车线性二自由度模型为参考模型,设计了基于扰动补偿的主动前轮转向滑模控制器,由主动转向控制器决策出额外附加前轮转角,使车辆响应跟随理想横摆角速度与质心侧偏角,改善汽车的横向稳定性。通过所建立的Carsim和Simulink联合仿真平台,在双移线低路面附着系数,有、无侧向风的工况下验证了主动转向控制策略的有效性。

With the vehicle steer-by-wire system as the research object,this paper builds a sliding mode observer for real-time estimation of the vehicle sideslip angle for active steering controller design.With the vehicle linear two-degree-of-freedom model being the reference model,an active steering sliding-mode controller based on perturbation compensation is designed,where the controller decides the additional front-wheel steering angle,allowing the vehicle response to follow the ideal yaw velocity and sideslip angle and improve the lateral stability of the vehicle.Finally,the effectiveness of the active steering control strategy is verified by the joint simulation platform of Carsim and Simulink under the working conditions of double lane change with low road adhesion coefficients with and without lateral winds.