采用横摆力矩优化分配方法的车辆稳定性控制系统  

Vehicle stability control system design using optimal allocation of yaw moment

作　　者：罗虹[1] 张立双[1] 来考[1] 来飞[1] 陈星[1] 

机构地区：[1]重庆大学机械工程学院,重庆400044

出　　处：《重庆大学学报（自然科学版）》2010年第10期19-24,共6页Journal of Chongqing University

基　　金：重庆市重大科技攻关项目(CSTC,2008AA6030)

摘　　要：为提高车辆的操纵稳定性,设计了采用横摆力矩优化分配方法的车辆稳定性控制系统。控制系统的上层采用基于最优理论的横摆力矩控制器,该控制器根据校正横摆力矩来计算目标控制车轮的参考滑移率;下层是PID控制器,它跟踪上层控制器的参考滑移率,对目标车轮施加制动力矩从而使车辆稳定。采用八自由度非线性车辆模型在不同工况下进行仿真,结果表明所设计的控制系统能够有效地改善车辆的操纵稳定性。In order to improve vehicle handling stability,a control system using optimal allocation of yaw moment was designed. The first layer is a linear quadratic regulator （LQR） controller,which optimizes a desired yaw moment to work on the vehicle and calculates reference wheel slip for the target wheel. The second layer of the control system is a PID controller which can track the reference wheel slip rate,and then apply braking torque on the target wheel to make the vehicle stable. Simulations are carried out by using an 8-dof nonlinear vehicle model under different conditions. The simulation results indicate that the designed control system can effectively improve vehicle handling stability.

关 键 词：车辆稳定性 直接横摆力矩 最优控制 PID控制 滑移率 

分 类 号：U270[机械工程—车辆工程]