基于UniTire轮胎模型的车辆稳定性控制

doi:10.13229/j.cnki.jdxbgxb.20240289

摘要/Abstract

摘要：

针对车辆稳定性控制问题，提出了一种基于UniTire轮胎模型的汽车侧向运动控制系统设计方法。首先，在保留UniTire轮胎模型以统一指数表达方式描述轮胎动力学特性这一前提下，结合车辆稳定性控制需求，提出了一种有针对性的简化建模方法。其次，结合模型预测控制理论，建立了车辆侧向预测模型，并设计了车辆横摆力矩控制器。最后，利用Carsim和Matlab联合仿真平台对控制系统的有效性进行了验证和分析。

关键词: 控制理论与控制工程, UniTire轮胎模型, 横摆力矩控制器, 模型预测控制, 车辆稳定性

Abstract:

Addresses the issue of vehicle stability control， a design method for the lateral motion control system of automobiles based on the UniTire model was proposed. Firstly， on the premise of retaining the UniTire model to describe the dynamic characteristics of the tire in a unified exponential expression， combined with the requirements of vehicle stability control， a targeted simplified modeling method is proposed. Secondly， in combination with the model predictive control theory， a vehicle lateral prediction model was established， and a vehicle yaw moment controller was designed. Finally， the effectiveness of the control system was verified and analyzed by using the joint simulation platform of Carsim and Matlab.

Key words: control theory and control engineering, UniTire model, yaw moment controller, model predictive control, vehicle stability

中图分类号:

TP273

王菲,陆恒辉,卢荡. 基于UniTire轮胎模型的车辆稳定性控制[J]. 吉林大学学报(工学版), 2025, 55(9): 2864-2873.

Fei WANG,Heng-hui LU,Dang LU. Vehicle stability control based on UniTire model[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(9): 2864-2873.

图/表 19

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图2

表1

车辆参数"

参数名称/单位	符号	数值
质心到前轴的距离/m	$a$	1.04
质心到后轴的距离/m	$b$	1.56
整车质量/kg	$m$	1 230
横摆惯量/（kg?m²）	$I z$	1 343.1
前轴轮距/m	$d f$	1.48
后轴轮距/m	$d r$	1.485
车轮半径/m	$R$	0.325
前轴制动器制动效能因数/（N·m·MPa^－1）	$k B, f$	200
后轴制动器制动效能因数/（N·m·MPa^－1）	$k B, r$	75
重力加速度/（m·s^－2）	$g$	9.81

表1

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