Yafei Li, Yiyong Yang, Xiangyu Wang, Chengbiao Wang
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引用次数: 0
摘要
本文提出了一种新型电动液压动力转向(EHPS)系统和车辆稳定性协调控制算法,不仅能确保轨迹跟踪的准确性,还能解决极端条件下横向控制稳定性和侧倾稳定性之间的协调控制问题。首先,设计了 EHPS 系统,为车辆横向动力学控制提供精确的前轮角度控制输入。其次,在最优预览理论的基础上,提出了一种结合滑模控制的新型轨迹跟踪融合控制器,以提高系统在车辆横向轨迹跟踪控制过程中的精度和稳定性。然后,根据侧滑角-偏航率相位平面确定相位平面的稳定域边界函数,并计算转向过程中相位平面的稳定裕度。最后,考虑到轨迹跟踪过程中的跟踪精度、侧倾稳定性和侧滚稳定性能,采用线性加权算法协调上述三个目标,并通过 HIL 台架试验和实车实验验证了所提算法具有良好的可靠性和有效性。
Lateral Stability Control for Intelligent Commercial Vehicle Based on Reconstructed Objective Function Method
In this paper, a novel electric-hydraulic power steering (EHPS) system and a vehicle stability coordination control algorithm are proposed which can not only ensure the accuracy of the trajectory tracking but also solve the coordination control problem between the stability of the lateral control and the stability of the roll in the extreme condition. Firstly, the EHPS system is designed to provide accurate control input of front wheel angle for vehicle lateral dynamics control. Secondly, on the basis of optimal preview theory, a new trajectory tracking fusion controller combined with sliding mode control is proposed to improve the accuracy and stability of the system in the process of vehicle lateral trajectory tracking control. Then, the stability domain boundary function of the phase plane is determined according to the phase plane of the sideslip angle-yaw rate, and the stability margin of the phase plane is calculated during the steering process. Finally, considering the tracking accuracy, lateral stability and roll stability performance in the process of trajectory tracking, the linear weighted algorithm is used to coordinate above three objectives, and the HIL bench test and real vehicle experiment verify that the proposed algorithm has good reliability and effectiveness.
期刊介绍:
Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.