基于自适应高阶滑模的转向控制器设计  

Design of Steering Controller Based on Adaptive High-order Sliding Mode

作　　者：杨书姣 段敏 曹景胜[2] YANG Shujiao;DUAN Min;CAO Jingsheng(School of Automotive Engineering,Liaoning Vocational University of Technology,Jinzhou 121200,China;Automobile and Traffic Engineering,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁理工职业大学汽车工程学院,辽宁锦州121200 [2]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出　　处：《汽车实用技术》2024年第19期94-100,共7页Automobile Applied Technology

基　　金：辽宁省教育厅科研项目(面上项目)(LJKMZ20220976)。

摘　　要：针对车辆转向下的操作稳定性和侧倾稳定性不足等问题,研究前轮主动转向的非线性滑膜控制,对汽车行驶稳定性研究有一定的指导意义。采用自适应高阶滑模控制方法结合T-S模糊建模方法,考虑轮胎侧偏角非线性变化,构建模型参数观测器实时获取轮胎动态参数。通过CarSim和MATLAB/Simulink联合仿真,选取双移线和正弦停滞两种典型工况对质心侧偏角、横摆角速度、侧向加速度等性能指标的自适应高阶滑模控制方法进行仿真验证。结果表明,该方法能够改善线控转向系统对转角的动态响应性能;与传统滑模控制策略相比,该策略的横摆角速度和侧向加速度最大值分别降低了22.63%和5.4%,能够提高车辆的操纵稳定性。Aiming at the problems of handling stability and lack of roll stability under vehicle steering,the study of nonlinear sliding mode control of front-wheel active steering has certain guiding significance for the study of vehicle driving stability.Adaptive higher-order sliding mode control method combined with Takagi-Sugeno(T-S)fuzzy modeling method is used to construct model parameter observer to obtain tire dynamic parameters in real time,considering the nonlinear change of tire side deflection angle.Through the joint simulation of CarSim and MATLAB/Simulink,two typical working conditions of double-shift line and sinusoidal stagnation are selected to simulate and validate the adaptive higher-order sliding mode control method for the performance indexes of center-of-mass lateral deflection,horizontal pendulum angular velocity,lateral acceleration,etc.The results show that this method can improve the dynamic response performance of steerable by wire system to angle;compared with the traditional sliding mode control strategy,the maximum yaw speed and lateral acceleration are reduced by 22.63%and 5.4%,respectively,which can improve the handling stability of the vehicle.

关 键 词：自适应模糊逻辑 高阶滑模控制 操纵稳定性 线控转向系统 CARSIM MATLAB/SIMULINK 

分 类 号：U463.4[机械工程—车辆工程]