吉林大学学报(工学版) ›› 2019, Vol. 49 ›› Issue (4): 1288-1292.doi: 10.13229/j.cnki.jdxbgxb20180217

• • 上一篇    

可实现车辆稳定性控制的滑模变结构策略

李寿涛1(),李秋媛1,刘辉1,丁辉1,田彦涛1,于丁力2   

  1. 1. 吉林大学 通信工程学院，长春 130022
    2. 利物浦约翰摩尔大学 工程与技术学院，英国 利物浦 L3 3AF
  • 收稿日期:2018-03-27 出版日期:2019-07-01 发布日期:2019-07-16
  • 作者简介:李寿涛(1975?)，男，副教授，博士. 研究方向：车辆动力学及仿真控制，智能机械及机器人控制技术. E?mail:list@jlu.edu.cn
  • 基金资助:
    国家重点科技研发计划项目(2016YFB0101102)

Sliding mode variable structure strategy for vehicle stability control

Shou⁃tao LI1(),Qiu⁃yuan LI1,Hui LIU1,Hui DING1,Yan⁃tao TIAN1,Ding⁃li YU2   

  1. 1. College of Communication Engineering，Jilin University，Changchun 130022，China
    2. School of Engineering，Liverpool John Moores University，Liverpool L3 3AF，UK
  • Received:2018-03-27 Online:2019-07-01 Published:2019-07-16

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摘要：

针对横摆角速度及质心侧偏角在车辆稳定控制中的重要作用，提出一种分层结构，在上层系统采用滑模变结构策略对汽车稳定性进行操纵。参考二自由度车辆模型计算控制变量名义值，针对横摆角速度及质心侧偏角偏差和偏差导数，设计汽车稳定操纵系统，由控制参量决策出最优附加横摆力矩。利用李雅普诺夫判定方法判断所设计的闭环系统的稳定性。试验结果表明，本文设计的滑膜变结构控制器在紧急工况下能够明显改善车辆稳定性能，提高行车安全。

关键词: 车辆工程, 滑模控制器, 横摆力矩, 横摆角速度, 质心侧偏角, 滑模变结构

Abstract:

The yaw velocity and the side angle of the center of mass play important roles as the main parameters in the stability of the vehicle. In this paper, a layered structure is proposed to control the stability performance of the vehicle by using the sliding mode variable structure strategy for the upper system. A two degree of freedom vehicle model is used to calculate the ideal value of the control variable. The vehicle stability control system is designed according to the yaw velocity and the deviation and deviation derivative of the sideslip angle. The optimal additional yaw moment is calculated by the control parameters. The stability of the closed loop system is judged by Lyapunov decision method. The experimental results show that the sliding mode variable structure controller designed in this paper can improve the stability performance of the vehicle obviously and improve the safety of the vehicle in the emergency.

Key words: vehicle engineering, sliding mode controller, yaw moment, yaw velocity, sideslip angle, sliding mode rariable structure

中图分类号: 

  • U463

图1

汽车稳定性控制分层结构"

图2

车辆稳定性控制策略结构图"

图3

方向盘转角输入"

图4

质心侧偏角对比图"

图5

纵向速度对比图"

图6

横摆角速度对比图"

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