基于电液耦合转向系统的商用车防失稳控制

doi:10.13229/j.cnki.jdxbgxb20170765

摘要/Abstract

摘要： 基于一种电液耦合转向系统进行商用车中、高速转向行驶失稳预防控制研究,采用转向力矩控制方法,通过主动调整助力使车辆时刻行驶在稳定区内,从而达到预防车辆失稳的目的。简述了电液耦合转向系统结构,进而对利用转向系统预防车辆失稳的可行性进行了说明,并建立了车辆2-DOF参考模型,采用柔性PID与自适应递增算法对线性和非线性两种行驶状态进行单独控制,得到补偿力矩。利用所搭建的电液耦合转向系统硬件在环试验台对提出的控制方法进行验证,结果显示,车辆处于临界失稳状态时电机助力矩与转向轮转角减小,横摆角速度减小,有效保证了车辆时刻行驶在稳定区域内。

关键词: 车辆工程, 电液耦合转向系统, 失稳预防控制, 柔性比例-积分-微分控制, 自适应递增算法

Abstract: The commercial vehicle is prone to instability when the vehicle is turning and driving at high speed. The control of the prevention of instability is carried out based on a kind of electric-hydraulic coupling steering system. A method of torque control is adopted that the power is actively adjusted to ensure the vehicle driving in the stable area to prevent instability. First, the structure of electric-hydraulic coupling steering system is briefly described. Second, the theoretical analysis of the vehicle instability is carried out, then the steering system can be used to control the stability of the vehicle and the 2-DOF reference model is built. Third, based on the flexible PID, the desired value of the yaw rate is tracked. The adaptive increasing algorithm is used to reduce the power of assist motor when the driving condition exceeds the stable area. Considering the change of road adhesion coefficient, the vehicle stable for prevention of instability can be obtained. The output value to the motor consists of the compensation value and the basic power value. The power characteristics of the motor are adjusted by the compensation value, so as to achieve prevention of instability control of commercial vehicles on different roads. In order to verify the control method, a hardware in the loop experiment based on electric-hydraulic coupling steering system was carried out. Results show that when the vehicle is in a critical state, the torque of the motor and the steering wheel angle both decrease, the yaw rate decreases. Therefore, the instability phenomenon can be effectively suppressed using the proposed method on different roads.

Key words: vehicle engineering, electric-hydraulic coupling steering system(EHCS), prevention of instability control, flexible-PID, adaptive increasing algorithm

中图分类号:

U461.6

赵伟强, 高恪, 王文彬. 基于电液耦合转向系统的商用车防失稳控制[J]. 吉林大学学报(工学版), 2018, 48(5): 1305-1312.

ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.

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