基于AFS和DYC协调控制的智能车辆稳定性研究  

Research on Stability of Intelligent Vehicle Based on AFS and DYC Coordinated Control

作　　者：刘畅[1] Liu Chang(School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400000)

机构地区：[1]重庆交通大学机电与车辆学院,重庆400000

出　　处：《汽车文摘》2023年第12期47-54,共8页Automotive Digest

摘　　要：智能汽车稳定性控制研究中,由于模型参数变化和外界干扰(如侧向风、路面附着系数变化),车辆发生失稳且鲁棒性变差。为提高随机干扰下智能汽车行驶稳定性,提出一种基于主动前轮转向(AFS)和直接横摆力矩(DYC)协调控制的稳定性控制策略。首先,建立车辆非线性动力学模型和魔术轮胎模型,将自适应律与滑模控制相结合抑制车辆行驶中的扰动,设计了基于鲁棒自适应滑模控制的前轮主动转向控制器,解决参数时变以及不确定性和未知扰动情况下非线性系统鲁棒控制问题。设计基于遗传优化模糊控制的横摆力矩控制器,求解出用以恢复车辆稳定行驶的附加横摆力矩。基于Simulink和CarSim仿真平台,在阶跃扰动、正弦扰动以及混合扰动下对稳定性控制方法进行仿真。结果表明,基于AFS和DYC协调控制可以明显减小车辆的附加横摆力矩输出,并在3种扰动下都能良好地抑制干扰,充分保证车辆稳定性。In the study of stability control for intelligent vehicle,the changes of model parameters and external disturbances such as lateral wind and road adhesion coefficient,which may lead to instability and poor robust stability.In order to improve the riding stability of intelligent vehicles under random interference,a stability control strategy based on Active Front Steering(AFS)and Direct Yaw moment Control(DYC)coordinated control is proposed.Firstly,a two-degreeof-freedom dynamic model of the vehicle is established.Secondly,a front wheel active steering controller based on robust adaptive sliding mode control is designed by combining adaptive law and sliding mode control to suppress the disturbance in the vehicle running,which solves the robust control problem of nonlinear systems with time-varying parameters,uncertainty and unknown disturbance.The yaw moment controller based on genetic optimization fuzzy control is used to solve the additional yaw moment to restore the stable running of the vehicle.Based on Simulink and CarSim simulation platform,the stability control method is simulated under step disturbance,sinusoidal disturbance and mixed disturbance.The results show that the coordinated control significantly reduces the additional yaw torque output of the vehicle,which can be well inhibited interference and fully ensure riding stability of the vehicle.

关 键 词：随机干扰 协同控制 稳定性 鲁棒滑模控制 遗传优化模糊控制 

分 类 号：U461.6[机械工程—车辆工程]