基于快速终端滑模的汽车底盘集成控制  

Integrated Vehicle Chassis Control Based on Fast Terminal Sliding Mode

作　　者：张家旭 施正堂 杨雄 赵健[1] ZHANG Jiaxu;SHI Zhengtang;YANG Xiong;ZHAO Jian(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130011,China;Intelligent Network R&D Institute,China FAW Group Co Ltd,Changchun 130011,China;Zhejiang Asia-Pacific Mechanical and Electronic Co Ltd,Hangzhou 311200,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,吉林长春130011 [2]中国第一汽车集团有限公司智能网联研发院,吉林长春130011 [3]浙江亚太机电股份有限公司,浙江杭州311200

出　　处：《湖南大学学报（自然科学版）》2021年第2期1-9,共9页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(51575225)。

摘　　要：针对汽车主动前轮转向子系统和直接横摆力矩控制子系统的集成控制问题,基于快速终端滑模控制理论设计一种标定参数少和动态响应速度快的鲁棒集成控制器.首先,基于达朗贝尔原理建立包含车身侧向和横摆运动自由度的汽车动力学模型作为底盘集成控制模型.随后,基于快速终端滑模控制理论分别设计主动前轮转向控制律和直接横摆力矩控制律,并且通过汽车质心侧偏角相平面定义的平滑切换因子建立二者的切换规则,实现主动前轮转向子系统和直接横摆力矩控制子系统的平滑切换控制,并且将主动前轮转向子系统和直接横摆力矩控制子系统的主要工作区域分别控制在轮胎的线性区域和非线性区域.最后,结合车辆动力学仿真软件对所提出的鲁棒集成控制器的可行性和有效性进行验证,结果表明:所提出的底盘集成控制器可以同时兼顾汽车操纵稳定性和乘坐舒适性.This paper presents an integrated vehicle chassis robust controller with fewer calibration parameters and faster dynamic response for the integrated control problems of active front wheel steering subsystem and direct yaw moment control subsystem,based on the fast terminal sliding mode control theory.Firstly,a vehicle dynamic model with lateral and yaw degrees of freedomis established based on D'Alembert principle,and it is used as an inte-grated vehicle chassis control model.Then,an active front wheel steering control law and a direct yaw moment control law are designed based on the fast terminal sliding mode control theory,respectively.A smooth switching rule is es-tablished based on smooth switching factor defined by the phase plane of the vehicle sideslip angle and its derivative to realize the smooth switching control between the active front wheel steering subsystem and the direct yaw moment control subsystem.Meanwhile,the smooth switching rule can confine the main working areas of the active front wheel steering subsystem and the direct yaw moment control subsystem to the linear and non-linear areas of the tires,re-spectively.Finally,the feasibility and effectiveness of the proposed integrated vehicle chassis robust controller are verified based on vehicle dynamics simulation software.The results show that the proposed controller can take into ac-count both vehicle handling stability and ride comfort.

关 键 词：车辆工程 底盘集成控制 主动前轮转向 直接横摆力矩控制 快速终端滑模控制 平滑切换控制 

分 类 号：U461.1[机械工程—车辆工程]