基于UniTire轮胎模型的车辆稳定性控制

doi:10.13229/j.cnki.jdxbgxb.20240289

Abstract

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

CLC Number:

TP273

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.

Figures/Tables 19

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Table 1

Vehicle parameters"

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

Table 1

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Vehicle stability control based on UniTire model

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