AFS四轮线控驱动转向稳定性控制技术  

AFS four-wheel wire control drive steering stability control technology

作　　者：苏清源 范德会[1] SU Qingyuan;FAN Dehui(School of Automobile and Traffic Engineering,Heilongjiang Institute of Technology,Harbin 150050,China)

机构地区：[1]黑龙江工程学院汽车与交通工程学院,哈尔滨150050

出　　处：《交通科技与经济》2023年第4期68-73,共6页Technology & Economy in Areas of Communications

基　　金：黑龙江省自然科学基金项目(LH2019E114)。

摘　　要：提出基于AFS的四轮线控驱动转向稳定性控制技术,提高四轮线控驱动车辆的稳定性。信号调理层通过建立线性二自由度期望模型得出四轮线控驱动车辆转向的横摆角速度与质心侧偏角的理想值;集成控制层以二者与实际值的偏差判断四轮线控驱动车辆的稳定状态,利用滑模控制(SMC)实现主动前轮转角(AFS)的控制,维持四轮线控驱动的稳定性,同时利用模型预测控制(MPC)实现横摆力矩(DYC)控制,控制分配层通过驱动力分配器将集成控制层获取的横摆力矩分配给各车轮;执行层以此为基础结合集成控制层得出前轮附加转角值,驱动车辆稳定运行。实验表明:该方法可以降低四轮线控车辆的滑移率;将驱动力经由分配器分配给各车轮,以保证驱动车辆稳定运行;当四轮线控驱动车辆以低速或高速行驶时,均可有效控制四轮线控车辆的稳定性。Propose a four-wheel wire drive steering stability control technology based on AFS to improve the stability of four-wheel wire drive vehicles.The signal conditioning layer obtains the ideal values of the yaw rate and the sideslip angle of the center of mass of the four-wheel drive by wire vehicle steering by establishing a linear two degree of freedom expectation model.The integrated control layer judges the stable state of the four-wheel drive by wire vehicle based on the deviation between the two and the actual value.Sliding mode control(SMC)is used to realize the control of the active front wheel angle(AFS)and maintain the stability of the four-wheel drive by wire,At the same time,model predictive control(MPC)is used to control the yaw moment(DYC).The control distribution layer distributes the yaw moment obtained by the integrated control layer to each wheel through a driving force distributor.Based on this,the execution layer combines the additional front wheel angle value obtained by the integrated control layer to drive the vehicle to operate stably.The experiment shows that this method can reduce the slip rate of four-wheel wire controlled vehicles and distribute the driving force distributor to each wheel to drive the vehicle to operate stably.The stability of four-wheel wire controlled vehicles can be effectively controlled when driving at low or high speeds.

关 键 词：汽车工程 四轮线控 驱动转向系统 稳定性 控制方法 AFS DYC 

分 类 号：U461[机械工程—车辆工程]