线控制动车辆弯道制动力优化分配控制策略  

Strategy for optimal braking-force allocation of vehicles with the brake-by-wire system during a braking-in-turn maneuver

作　　者：陈佳瑶 彭晓燕[1] CHEN Jia-yao;PENG Xiao-yan(School of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082)

机构地区：[1]湖南大学机械与运载工程学院,湖南长沙410082

出　　处：《机械设计》2020年第2期1-9,共9页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51575167).

摘　　要：针对具备线控制动系统的车辆弯道制动工况下容易失稳的问题,提出了一种制动力优化分配控制策略,提升了车辆的操纵稳定性。总体采用分层控制的结构,上层运动控制器以理想二自由度车辆模型为参考模型,设计了基于横摆角速度和质心侧偏角联合控制的滑模控制器,用于计算所需的附加横摆力矩;同时通过制动踏板特性来识别驾驶员制动意图从而得出总制动力;下层制动力分配器以轮胎利用率为目标函数,通过序列二次规划法在约束条件范围内优化求解出各车轮所需的制动力。利用MATLAB/Simulink与Carsim进行联合仿真,并与传统的制动力比例分配策略在不同弯道制动工况下进行对比验证。结果表明:提出的制动力优化分配策略在转弯紧急制动工况下不仅能保证驾驶员的期望减速度,同时有效地提升了汽车的横向稳定性。Aiming at the instability of vehicles with the brake-by-wire system during a braking-in-turn maneuver,a strategy for optimal braking-force allocation is proposed to ensure the stable handling of vehicles. In general,a structure of hierarchical control is adopted. The upper motion controller refers to a single-track vehicle model,and a sliding-mode controller is worked out based on the joint control of the yaw rate and the side slip angle,in order to calculate the additional yaw moment. At the same time,the driver’s braking intention is identified by the brake pedal characteristics,so as to obtain the total braking force.The lower braking-force distributor,with the tire’s utilization rate as the objective function,optimizes the braking force required for each wheel under the constraint condition with the aid of the sequence quadratic programming method. The simulation is carried out by MATLAB/Simulink and Carsim,and the results are compared with their counterparts obtained based on the traditional strategy for braking-force proportional allocation. The results show that the strategy for optimal braking-force allocation not only guarantees the driver’s expected deceleration during an emergent braking-in-turn maneuver,but also effectively improves the lateral stability of vehicles.

关 键 词：线控制动 弯道制动 制动力优化分配 滑模控制 

分 类 号：U463.5[机械工程—车辆工程]