基于联合仿真的汽车横摆稳定性控制系统研究  

Yaw Stability Control of Vehicle Based on CarSim-simulink

作　　者：康南 周鹏 KANG Nan;ZHOU Peng(School of Mechatronics and Automobile Engineering, Huzhou Vocational and Technological College, Huzhou 313000, China;Faculty of Mechanical and Engineering, Kunming Metallurgy College, Kunming 650033, China)

机构地区：[1]湖州职业技术学院机电与汽车工程学院,浙江湖州313000 [2]昆明冶金高等专科学校机械工程学院,昆明650033

出　　处：《湖州职业技术学院学报》2019年第2期73-76,81,共5页Journal of Huzhou Vocational and Technological College

基　　金：2017年度浙江省教育厅一般科研项目“汽车横摆稳定性的最优重构控制研究”（Y201738490）的研究成果之一

摘　　要：为了提高汽车在极限行驶工况下的操纵稳定性和安全性,基于CarSim,建立了非线性汽车整车仿真模型,设计了汽车横摆稳定性控制系统。该控制系统采用分层控制方式,分为顶层横摆力矩控制器、中间层制动力分配器和底层车轮滑移率调节器三个部分。顶层横摆力矩控制器决策出附加横摆力矩,用以改善整车的横摆稳定性;中间层制动力分配器合理分配了四个车轮的制动力,用以实现顶层控制器输出的附加横摆力矩;底层滑移率调节器采用基于逻辑门的限值方法,用以防止车轮抱死。搭建了CarSimSimulink联合仿真模型。通过两次单移线操作模拟两次超车换道试验,对控制系统进行了仿真验证分析。结果表明:在极限工况下,该控制方案能够显著地改善整车的横摆稳定性,最大限度地提高了整车行驶的安全性。In order to improve the safety and handling stability of vehicle under extreme working conditions,a nonlinear vehicle simulation model was established based on CarSim,and the vehicle yaw stability control scheme was designed.The control scheme adopts a layered control method,which is divided into three parts:top yaw moment controller,intermediate layer brake force distributor and bottom wheel slip rate adjuster.The top controller determines additional yaw moment to improve the whole vehicle.The yaw stability performance,the middle layer brake force distributor reasonably distributes the braking force of the four wheels to achieve the additional yaw moment,and the bottom slip ratio adjuster adopts a logic threshold value method to prevent the wheel from locking.The joint simulation model of CarSim-simulink was built.The control scheme was verified by two single-shift test operations.The results show that the co-simulation of CarSim-simulink can effectively analyze and evaluate the vehicle stability control scheme.The solution can significantly improve the yaw stability of the vehicle.

关 键 词：汽车横摆稳定性控制系统 操纵稳定性 联合仿真 CarSim-simulink 

分 类 号：U463.53[机械工程—车辆工程]