基于双电机主动横向稳定杆的车辆位姿联合控制研究  

Study on Vehicle Pose Joint Control Based on Dual Motor Active Lateral Stabilizer Bar

作　　者：董志圣 卢荡[1] 刘泓江 Dong Zhisheng;Lu Dang;Liu Hongjiang(Jilin University,State Key Laboratory of Automotive Simulation and Control,Changchun 130012;Zhejiang KongHui Automobile Co.,Ltd.,Huzhou 313000)

机构地区：[1]吉林大学,汽车仿真与控制国家重点实验室,长春130012 [2]浙江孔辉汽车科技有限公司,湖州313000

出　　处：《汽车工程》2024年第8期1447-1456,共10页Automotive Engineering

摘　　要：针对集成双电机主动横向稳定杆车辆的车身姿态控制方法进行研究。首先建立了双电机主动横向稳定杆动力学模型以及包含侧倾、横向、横摆、俯仰、悬架垂向位移的车辆8自由度模型,其次针对复杂工况下控制算法参数难整定问题,提出了基于悬架高度信号、路面坡度信号等车辆状态信息的实际俯仰角估计方法、理想俯仰角标定方法以及俯仰工况辨识方法,以双电机主动横向稳定杆为作动器设计了基于PID控制算法的俯仰子控制算法和侧倾子控制算法,采用遗传算法对各子控制算法参数进行整定,最后结合位姿控制矩阵设计了车辆位姿联合控制算法并进行试验验证。MATLAB/Simulink、CarSimRT与华海控制器进行的控制器算法在环测试结果表明,在不同复杂工况下搭载双电机主动横向稳定杆车辆的侧倾角、侧倾角速度以及俯仰角的改善幅度均在10%以上,证明了该控制算法的可行性及普适性。The pose control method of the vehicle with dual motor active lateral stabilizer bar is studied in this paper.Firstly,a dynamic model of a dual motor active lateral stabilizer bar and an eight-degree-of-freedom vehicle model including roll,lateral,yaw pitch,and suspension vertical displacement are established.Secondly,for the problem that the control algorithm parameters are difficult to adjust under complex working conditions,the actual pitch angle estimation method,the ideal pitch angle calibration method,and the pitch condition identification method based on vehicle state information such as suspension height signal and road slope signal are proposed.The pitch sub-controller and the roll sub-controller based on PID control algorithm are designed with the dual motor active lateral stabilizer bar as the actuator.Genetic algorithm is used to tune the parameters of each sub-controller.Finally,combined with the pose control matrix,the vehicle pose joint control algorithm is designed and verified through experiments.The Hardware in Loop results of MATLAB/Simulink CarsimRT and Rapid ECU show that the improvement of the roll angle,roll angle speed,and pitch angle of the vehicle equipped with dual motor active lateral stabilizer bar is more than 10%under different complex working conditions,which proves the feasibility and universality of the control algorithm.

关 键 词：主动横向稳定杆 联合控制 俯仰和侧倾 在环测试 

分 类 号：U463.33[机械工程—车辆工程]