基于预警边界的线控转向主动安全控制研究  

Research on Active Safety Control of Steer-by-Wire Based on Warning Boundary

作　　者：虞井生 罗石[1] 刘艳广 丁华[1] YU Jing-sheng;LUO Shi;LIU Yan-guang;DING Hua(Schoolof Automotive and Traffic Engineering,Jiangsu University,Zhenjiang Jiangsu 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013

出　　处：《计算机仿真》2024年第3期139-144,共6页Computer Simulation

基　　金：国家重点研发计划(2019YFB1600500)。

摘　　要：为提高传统线控转向车辆转向稳定性,提出一种基于相平面预警边界的主动安全控制策略。首先,建立质心侧偏角与质心侧偏角速度β-β相平面图;其次,针对传统相平面稳定区域划分所用双线法在低路面附着系数时存在不足,提出“平行四边形”边界法改善相平面稳定区域的划分,并以稳定域边界建立预警边界模型。然后基于预警边界设计线控转向主动安全控制器,设计预警度PID控制器和横摆角速度滑模控制器联合决策横摆力矩,以保持车辆稳定行驶,避免失稳状态从而起到主动安全作用;最后,结合Simulink和CarSim联合仿真结果表明,控制器能够有效避免线控转向车辆失稳,提高了主动安全性。In order to improve the driving stability of conventional steer-by-wire vehicles,an active safety control strategy based on phase plane early warning boundary is proposed.Firstly,a phase plane of the sideslipand sideslipanglerate was established;Secondly,in view of the shortcomings of the double-line method used in the traditional phase plane stabilization area division in the low road adhesion coefficient,the"parallelogram"boundary method was proposed to improve the division of the phase plane stability area,and an early warning boundary model was established with the stable domain boundary.Then,based on the early warning boundary,the steer-by-wire steering was designed to active safety controller,and the early warning degree PID controller and the pendulum angle speed sliding mode controller were designed to jointly decide the pendulum torque,play an active safety role in maintaining the stable driving of the vehicle.The simulation experiments based on Simulink and CarSim show that the control strategy designed in this paper can effectively improve the active safety and driving stability of steer-by-wire vehicles.

关 键 词：线控转向 相平面 平行四边形预警边界 主动安全 滑模控制 

分 类 号：U463.42[机械工程—车辆工程]