汽车横摆的动态模型  

Model-building for vehicle yaw dynamics

作　　者：刘志远[1] 周洪亮[1] 陈虹[2] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,黑龙江哈尔滨150001 [2]吉林大学控制科学与工程系,吉林长春130025

出　　处：《控制理论与应用》2011年第8期1145-1150,共6页Control Theory & Applications

基　　金：国家杰出青年科学基金资助项目(60725311)

摘　　要：建立横摆动态模型是汽车横摆稳定控制的基础.本文根据汽车横摆稳定控制的特点,综合车身横摆动态,车轮动态和轮胎的非线性特性,建立了非线性离散横摆动态模型,其中轮胎摩擦力为时变参数.为了估计本模型中的时变参数,本文进而设计了离散滑模估计器估计轮胎摩擦力.最后,在一个高精度的汽车动力学仿真环境中,证实了本估计方法可有效地估计车轮摩擦力,所建立模型较为准确地反映汽车横摆动态.Building the yaw dynamics model is fundamental to vehicle yaw stability control. Considering the characteristics of the vehicle yaw stability control, we propose a nonlinear discrete yaw dynamics model for a vehicle by combining the vehicle yaw dynamics, wheel dynamics and the nonlinear characteristics of tires. In this model, wheel frictional forces are considered as time-varying variables; to estimate these time-varying variables, a discrete sliding mode observer is designed. Finally, in a high-accurate simulation environment for the vehicle dynamics, results validate the accuracy in the estimation of wheel frictional forces, and the efficacy of the proposed model for the vehicle yaw dynamics.

关 键 词：汽车横摆动态 建模 车轮摩擦力 滑模观测器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] U461[自动化与计算机技术—控制科学与工程]