摘要
建立了七自由度整车模型和非线性轮胎模型,通过线性二自由度车辆模型得到车辆质心侧偏角和横摆角速度的理想值。基于滑模变结构控制理论,以汽车质心侧偏角和横摆角速度为控制变量计算出车辆总的需求横摆力矩。采用二次规划法,根据总的需求力矩对车辆各个车轮进行转矩分配,实现车辆稳定性行驶。典型阶跃工况仿真验证了控制算法的有效性。
Both a 7 degree of freedom （DOF） vehicle model and a nonlinear tire model are established, and the optimal values of both the sideslip angle of gravity center and yaw rate are obtained with a linear 2 DOF vehicle model. By means of sliding structure-varied theory, the required yawing moment is calculated with sideslip angle and yaw rate as control variables. The quadratic programming is applied to distribute the torquefor each wheel based on the overall moment needed to ensure that vehicle moves smoothly. Simulation with stepinput show that the method is effective.
出处
《长春工业大学学报》
CAS
2017年第2期127-132,共6页
Journal of Changchun University of Technology
基金
国家高技术研究发展计划(863计划)基金资助项目(2012AA110904)
国家重点基础研究发展计划(973计划)基金资助项目(2011CB711205)
吉林省科技厅科研基金资助项目(20126008)
关键词
滑模控制
横摆力矩
稳定性
仿真
sliding control
yaw moment
stability
simulation.
