爆胎汽车模糊优化协调稳定性控制研究  

Coordination Stability Control Algorithm with Fuzzy Optimization for Vehicle After Tire Blowout

作　　者：滕兴旺 张向文[1,2] TENG Xingwang;ZHANG Xiangwen(School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin 541004,Guangxi,China;Key Laboratory of Intelligence Integrated Automation in Guangxi Universities,Guilin University of Electronic Technology,Guilin 541004,Guangxi,China)

机构地区：[1]桂林电子科技大学电子工程与自动化学院,广西桂林541004 [2]桂林电子科技大学智能综合自动化广西高校重点实验室,广西桂林541004

出　　处：《机械科学与技术》2024年第12期2064-2075,共12页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(62263006);广西自然科学基金项目(2018GXNSFAA281282);桂林电子科技大学研究生教育创新计划资助项目(2021YCXS120)。

摘　　要：爆胎会使汽车失去稳定性,偏离原来的行驶路线,给驾乘人员及车辆带来危险,通过差动制动或主动转向控制可以在一定程度上提高汽车的稳定性,减少侧向位移。为了进一步提高爆胎汽车的稳定性,减小因偏离行驶道路而可能引发的交通事故,综合差动制动和主动转向的控制效果,提出了一种分数阶滑模差动制动与微分先行PID主动转向共同作用的模糊优化协调控制方法。首先搭建了基于UniTire的汽车爆胎模型和基于Carsim的汽车整车模型。然后,以二自由度理想模型为参考,设计了分数阶滑模控制器对汽车的横摆力矩进行控制,通过对非爆胎轮施加制动力,保证汽车的稳定性。同时设计了微分先行PID控制器对汽车的前轮转角进行控制,通过改变前轮的转向角,减小汽车的侧向位移。最后,设计了模糊优化协调控制算法对差动制动控制器和主动转向控制器进行权重分配,以达到更好的控制效果。为验证不同的控制算法,在直行路面条件下,使用Carsim与Simulink对不同轮胎爆胎情况进行仿真实验,结果表明,协调控制下的横摆角速度和质心侧偏角接近未爆胎时的曲线,侧向位移最大不超过0.085 m,到达稳定状态所用时间不超过1 s。因此所提出的协调控制算法可以使爆胎后的汽车快速达到稳定状态的同时大幅减小侧向位移。When a tire burst,the vehicle may lose stability and deviate from its original route,which brings great danger to the driver and vehicle.Differential braking control or active front steering control can improve the vehicle stability to a certain extent and reduce the lateral displacement.In order to further improve the stability of the vehicle after the tire blowout and reduce the damage caused by deviating from the route,differential braking control and active front steering control are combined,and a fuzzy optimization coordination control method is proposed with the fractional-order sliding mode differential braking control and differential forward PID active front steering control.Firstly,the UniTire tire model and Carsim-based vehicle model were built.Then,a fractional-order sliding mode controller was designed to control the yaw moment of the vehicle based on the 2-DOF ideal model,and the stability of the vehicle was ensured by applying braking force to the non-blowout tires.At the same time,a differential forward PID controller was designed to control the front wheel angle,and the lateral displacement of the vehicle was reduced by changing the steering angle of the front wheel.Finally,a fuzzy optimization coordination control algorithm was designed to allocate the weights of the differential braking control and the active front steering control to achieve better control effect.In order to verify the different control algorithms,the simulation experiments for different tire blowout were done with Carsim and Simulink under the condition of straight road.The results show that the yaw velocity and sideslip angle are close to the curve of the vehicle without tire blowout with coordinated control,and the maximum lateral displacement decreases to 0.085 m,and the time to reach the stable state is no more than 1 s.Therefore,the proposed coordinated control algorithm can make the vehicle return to the stable state quickly and reduce the lateral displacement greatly.

关 键 词：爆胎 汽车稳定性 分数阶滑模控制 模糊优化 协调控制 

分 类 号：U461.6[机械工程—车辆工程]