微型货车主动性防侧翻控制研究  

Research on Active Anti-Rollover Control of Minivan

作　　者：董禄 李擎[1,2] 罗鹏 付国栋 DONG Lu;LI Qing;LUO Peng;FU Guodong(College of Automation,Beijing University of Science and Technology Information,Beijing 100192,China;Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing 100192,China;Beijing DEWIN Co.,Ltd.,Beijing 100192,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]高动态导航技术北京市重点实验室,北京100192 [3]北京德维创盈科技有限公司,北京100192

出　　处：《机械设计与制造》2025年第2期169-174,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金(61971048);国家自然科学基金(61771059)。

摘　　要：针对微型货车在高速行驶工况下急速转弯时极易发生侧翻的问题,以车辆横向载荷转移率为控制系统的触发输入,采用差动制动方式,结合车辆侧翻特性,提出一种基于变论域理论的模糊PID控制方法,输出相应车轮制动力调节车辆的侧向加速度,来抑制车辆侧翻趋势。设置车辆横向载荷转移率的阈值为[-0.8,0.8],避免出现阈值过小,使汽车在安全的行驶状态下触发控制系统对车辆制动;阈值过大,制动不及时的现象。在鱼钩转向输入工况下,应用Carsim与Simu⁃link进行联合仿真验证,结果表明,这里所提出的控制方法有效:控制车辆侧向加速度的能力比模糊PID控制提升了18.6%,在抑制横摆角速度方面比模糊PID控制提升了24.8%,可实现微型货车主动性防侧翻。Aiming at the problem that mini vans are prone to rollover when turning rapidly under high-speed driving conditions,taking the vehicle lateral load transfer rate as the trigger input of the control system,using differential braking mode and com⁃bined with the vehicle rollover characteristics,a fuzzy PID control method based on variable universe theory is proposed to output the corresponding wheel braking force to adjust the vehicle lateral acceleration,to curb the vehicle rollover trend.Set the threshold of vehicle lateral load transfer rate as[-0.8,0.8],so as to avoid too small threshold and trigger the control system to brake the vehicle in a safe driving state;Excessive threshold and untimely braking.Under the fishhook steering input condition,the joint simulation is carried out by using Carsim and Simulink.The results show that the control method proposed in this paper is effec⁃tive:the ability to control the vehicle lateral acceleration is 18.6%higher than that of fuzzy PID control,and 24.8%higher than that of fuzzy PID control in restraining the yaw rate,which can realize the active anti rollover of mini vans.

关 键 词：防侧翻控制 变论域 模糊PID 微型货车 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]