基于主动悬架的车辆防侧倾控制  

Active Anti-roll Control of Vehicle Based on Active Suspension

作　　者：桑楠 白玉 董彦龙 SANG Nan;BAI Yu;DONG Yanlong(School of Automotive Engineering,Changzhou Institute of Technology,Changzhou 213032,China;Zhangjiagang Great Wall Motor R&D Company Limited,Zhangjiagang 215600,China)

机构地区：[1]常州工学院汽车工程学院,江苏常州213032 [2]张家港长城汽车研发有限公司,江苏张家港215600

出　　处：《常州工学院学报》2024年第6期23-32,共10页Journal of Changzhou Institute of Technology

基　　金：国家自然科学基金(52305246)。

摘　　要：为提高车辆侧倾安全性的同时不降低车辆舒适性,提出了基于自抗扰控制主动悬架防侧倾控制方法。建立二自由度转向模型和七自由度悬架模型,设计扩张状态观测器估计车辆状态与扰动,对扰动动态补偿并跟踪期望侧倾角,求解广义逆矩阵获得主动悬架的主动力增益矩阵,通过控制主动悬架实现对车辆的主动防侧倾控制。在MATLAB/Simulink建立控制器控制CarSim车辆模型并进行移线和鱼钩仿真试验:在双移线工况下,主动防侧倾控制车辆相对于未控制车辆,其侧倾角最大值、侧倾角加速度最大值和横向载荷转移率最大值分别下降了62.55%、71.03%和13.82%;在鱼钩试验工况下,这几项指标分别下降了77.03%、71.55%和12.19%。仿真结果表明,提出的防侧倾控制方法能有效提高车辆转向时的防侧倾能力。To improve the roll motion safety of vehicle roll while not reducing the comfort of vehicles,an anti-roll control method of vehicles based on active suspension of active disturbance rejection(ADR)control was proposed.A two-degree-of-freedom steering model and a seven-degree-of-freedom suspension model are established.The extended state observer(ESO)was used to estimate the vehicle states and disturbance,and the disturbance is dynamically compensated and tracked to the desired roll angle.The gain matrix of active suspension force is obtained by solving the generalized inverse matrix,and the active anti-roll control for vehicles is realized through the controlling active suspension.The controller established in MATLAB/Simulink control the CarSim vehicle model for double lane change test and fishhook test.Under the double lane change test,compared with uncontrolled vehicles,maximum of roll angle,roll angle acceleration and lateral load transfer rate(LTR)of the active anti-roll control vehicle decrease by 62.55%,71.03%and 13.82%,respectively.Under the fishhook test,these indicators are reduced by 77.03%,71.55%and 12.19%,respectively.The simulation results show that the proposed anti-roll control method can effectively improve the anti-rolling ability of the vehicle when steering.

关 键 词：主动悬架 防侧倾 自抗扰控制 主动前轮转向 

分 类 号：U461.1[机械工程—车辆工程] U461.6[交通运输工程—载运工具运用工程]