摘要
汽车操稳性对汽车安全性能起着至关重要的作用,精确建立整车动力学模型和获取车辆运动状态参数,可以提高汽车操稳性控制的鲁棒性。首先建立汽车电子机械制动系统模型及其三闭环控制系统,其次建立整车动力学模型,设计基于卡尔曼滤波算法的状态观测器对车辆运行状态进行最优估计。提出汽车侧偏与横摆联合控制策略,并引入分配系数实现对横摆角速度和质心侧偏角的联合控制。硬件在环试验结果表明,所建立的联合控制策略可有效地控制汽车的横摆与侧偏,有助于改善汽车的操稳性。
The vehicle operation stability plays a vital role for automobile safety performance. The robustness of vehicle operation stability control can be improved by establishing accurately the dynamics model and obtaining precisely the parameters of motion states of the vehicle. In this case, the model of the automobile electronic mechanical brake system and the three closed-loop control system are established, as well as the vehicle dynamic model. And a state observer based on Kalman filter algorithm is designed for estimating optimally of the vehicle motion state. The combination control strategy of vehicle slip and yaw is proposed. At the same time, the distribution coefficient is introduced for the combination control of yawing angular velocity and side-slip angle. Finally, the test results of hardware in the loop show that the slip and yaw of the vehicle can be effectively controlled by the combination control strategy, which can improve the vehicle operation stability.
出处
《机械设计与制造》
北大核心
2017年第4期68-72,共5页
Machinery Design & Manufacture
基金
四川省重大前沿课题资助项目(2015JY0281)
四川省2015科技计划项目资助(2015GZ0126)
四川省重大科技成果转化专项(2015CC0003)
四川省国际科技合作与交流研究计划项目(2015HH0062)
西南交通大学研究生创新实验实践项目(YC201502109)
关键词
操稳性
整车动力学模型
卡尔曼滤波
联合控制
Operation Stability
Vehicle Dynamics Model
Kalman Filter
Combination Control Strategy
