4WID车辆主动安全控制策略研究  

Research on the Active Safety Control of the 4WID Vehicle

作　　者：毕凤荣[1,2] 孙浩轩 张立鹏 刘乐海[1] 王杰 Bi Fengrong;Sun Haoxuan;Zhang Lipeng;Liu Lehai;Wang Jie(State Key Laboratory of Engines,Tianjin University,Tianjin 300072,China;Tianjin Internal Combustion Engine Research Institute,Tianjin 300072,China)

机构地区：[1]天津大学内燃机燃烧学国家重点实验室,天津300072 [2]天津内燃机研究所,天津300072

出　　处：《天津大学学报（自然科学与工程技术版）》2022年第2期158-165,共8页Journal of Tianjin University：Science and Technology

基　　金：典型运行工况两轮摩托车操纵稳定性试验研究资助项目.

摘　　要：针对4WID车辆主动安全控制,设计开发了一种基于主动前轮转向(active front steering,AFS)、直接横摆力矩控制(direct yaw-moment control,DYC)与驱动防滑(acceleration slip regulation,ASR)集成的控制系统.控制系统采用分层控制结构,其中决策层基于滑模变结构控制理论与车辆相平面稳定判据,设计了横摆角速度与质心侧偏角协调控制器,计算保持车辆稳定性所需的附加横摆力矩.此外,基于滑移率门限值,设计了模糊PI控制器,分配AFS模块与DYC模块输入的附加横摆力矩,获得最终附加横摆力矩与附加前轮转角.执行层通过对驱动/制动力矩与前轮转角的控制,实现速度保持,滑移率控制与车辆稳定性控制功能.仿真结果表明,在高速、低附着系数路面的极限工况下,集成控制策略可实现车辆操纵稳定性控制且综合性能优于单独控制.Relative to the active safety control of 4WID vehicle,a control system is developed based on the integration of active front steering,direct yaw-moment control,and acceleration slip regulation.The control system adopts a hierarchical control structure.The decision layer designs a cooperative controller of yaw rate and sideslip angle based on the sliding mode control theory and vehicle phase plane stability criterion,and it calculates the corrective yaw-moment.Besides,a fuzzy PI controller is designed based on slip ratio threshold to allocate the additional yaw-moment of the active front steering and direct yaw-moment control modules,finally obtaining additional yaw-moment and additional steering angle.The execution layer takes control of the driving/braking torques and steering angle to track the velocity and control slip ratio and vehicle stability.Simulation results show that under the limiting condition of high speed and low-adhesion-coefficient road,an integrated control strategy maintains vehicle stability and provides comprehensive performance superior to single control.

关 键 词：主动前轮转向 直接横摆力矩控制 驱动防滑 滑模控制 车辆稳定性控制 

分 类 号：U270.1[机械工程—车辆工程]