极限工况下AFS与DYC可拓协调控制  

AFS and DYC Extension Coordinated Control Under Extreme Condition

作　　者：冯樱 江子旺 乔宝山 邓召文 FENG Ying;JIANG Zi-wang;QIAO Bao-shan;DENG Zhao-wen(School of Automotive Engineering,Hubei University of Automotive Technology,Hubei Shiyan 442002,China)

机构地区：[1]湖北汽车工业学院汽车工程学院,湖北十堰442002

出　　处：《机械设计与制造》2024年第6期163-169,共7页Machinery Design & Manufacture

基　　金：湖北省中央引导地方科技发展专项(2019ZYYD019)。

摘　　要：主动前轮转向系统(AFS)和直接横摆力矩控制(DYC)集成控制可提高商用货车的操纵稳定性。由于主动前轮转向在轮胎非线性区作用效果有限,与直接横摆力矩控制简单叠加的控制效果不一定能达到预期,为此这里设计了可拓协调控制系统。该系统分为上、中、下三层,上层为AFS与DYC协调切换控制层。采用试验法得到前轮临界转角,根据线性二自由度车辆模型反推临界转角下的稳态质心侧偏角,结合车辆实际质心侧偏角及其速度的相平面稳定域将相平面图分区,设计了3种不同协调控制策略;中层是基于指数趋近律设计的AFS与DYC滑模控制器,可得到前轮附加转角和附加横摆力矩;附加横摆力矩由下层控制器根据车辆实时状态进行制动力分配。采用TruckSim、Matlab/Simulink建立联合仿真平台,在极限工况下进行仿真验证可拓协调控制系统。仿真结果得到最优可拓协调策略,该协调控制弥补了AFS/DYC单一控制的缺陷,可保证车辆的操纵稳定性和行驶安全性。The integrated control of active front steering(AFS)and direct yaw moment control(DYC)can improve the handling and stability of commercial trucks.Because the effect of active front wheel steering is limited in the nonlinear region of tire,the con-trol effect of simple superposition of active front wheel steering and direct yaw moment control may not meet the expectations,so the extension coordinated control system is designed in this paper.The system is divided into upper,middle and lower three layers,the upper layer is AFS and DYC coordination switching control layer.The critical steering angle of the front wheel was obtained by ex-periment,and the steady-state sideslip angle under the critical steering angle was backcalculated according to the linear two-de-gree-of-freedom vehicle model.The phase plane diagram was partitioned according to the actual vehicle sideslip angle and its ve-locity phase plane stability region,and three different coordinated control strategies were designed.In the middle layer,AFS and DYC sliding mode controllers are designed based on the exponential reaching law,which can obtain the additional steering angle and yaw moment of the front wheel;And that additional yaw moment is distribute by the lower lay controller according to the real-time state of the vehicle.A co-simulation platform was established by TruckSim and Matlab/Simulink,and the extension coordinat-ed control system was simulated and verified under extreme conditions.The simulation results show that the optimal extension coor-dination strategy is obtained.The coordination control makes up for the defects of AFS/DYC single control,and can ensure the vehi-cle handling stability and driving safety.

关 键 词：操纵稳定性 主动前轮转向 直接横摆力矩 相平面 前轮临界转角 可拓协调控制 

分 类 号：TH16[机械工程—机械制造及自动化]