基于滑模理论的线控转向汽车稳定性控制研究  

Vehicle stability control research based on sliding mode control for steer-by-wire

作　　者：李崧 孙有平[1,3] 吴光庆 王国春 LI Song;SUN Youping;WU Guangqing;WANG Guochun(College of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China;AISN AUTO R&D Co.,Ltd.,Changsha 410205,China;Guangxi Earthmoving Machinery Collaborative Innovation Center,Liuzhou 545006,China)

机构地区：[1]广西科技大学机械与汽车工程学院,柳州545006 [2]湖南湖大艾盛汽车技术开发有限公司,长沙410205 [3]广西土方机械协同创新中心,柳州545006

出　　处：《现代制造工程》2024年第4期87-93,共7页Modern Manufacturing Engineering

基　　金：广西重点研发计划项目(桂科AD22080042,桂科AB23026104);2023年广西汽车零部件与整车技术重点实验室自主研究课题项目(2023GKLACVTKF05)。

摘　　要：为了提高汽车转向时的稳定性与安全性,在理想传动比前馈控制的基础上,设计了综合考虑横摆角速度和质心侧偏角的主动转向控制器。主动转向控制器根据状态参数实际值与理想值之间的误差,经过自适应滑模控制器计算出独立于驾驶员的额外附加转角,以对前轮转角进行补偿,使得汽车的实际响应跟随理想值,以改善汽车的稳定性。最后,在Matlab/Simulink软件和Carsim软件中建立了线控转向联合仿真模型,分别在双移线、正弦输入以及高、低路面附着系数工况下对设计的主动转向控制器进行试验,结果表明,主动转向控制器明显减小了横摆角速度和质心侧偏角2个参数的实际值与理想值之间的误差,提高了汽车转向时的稳定性。In order to improve the stability and safety of the vehicle during steering,an active steering controller considering the yaw angle velocity and the centroid side declination angle was designed on the basis of the feed-forward control of the ideal transmission ratio.According to the error between the actual value and the ideal value of the state parameter,the active steering controller calculates an additional additional turning angle independent of the driver through the adaptive sliding mode controller to compensate for the front wheel rotation angle,so that the actual response of the car follows the ideal value to improve the stability of the car.Finally,a co-simulation model of steer-by-wire was established in Matlab/Simulink software and Carsim software,and the proposed active steering control strategy was tested under the conditions of double line shift,sinusoidal input,high and low road adhesion coefficients,respectively.The results show that the active steering controller can significantly reduce the error between yaw angular velocity and centroid deflection angle and the ideal value,and improve the stability of the vehicle during steering.

关 键 词：线控转向系统 主动前轮转向 滑模控制 自适应趋近律 

分 类 号：U469.11[机械工程—车辆工程]