吉林大学学报(工学版) ›› 2010, Vol. 40 ›› Issue (03): 597-0601.

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LQR method for vehicle yaw moment decision in vehicle stability control

DING Hai-tao1,GUO Kong-hui1,CHEN Hong2   

  1. 1.State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022, China；2.College of Communication Engineering, Jilin University, Changchun 130022, China
  • Received:2009-01-22 Online:2010-05-01 Published:2010-05-01

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Abstract:

Incorporating the 2 traditional vehicle stability control methods, the one is to follow the ideal yaw rate, the other is to limit the mass center sideslip angle, a new optimal control method was proposed. Following the linear 2-DoF vehicle handling performance model as control target, a control system model was built based on the dynamic relationship between the vehicle yaw moment and the vehicle state deviations. Using the Linear quadratic regulator(LQR) method to decide the vehicle yaw moment required to stablize the vehicle state. The control performances of the LQR method were verified by simulations and tests on the hardware-and-driver-in-the-loop simulation test rig.

Key words: vehicle engineering, vehicle stability control, yaw moment, Linear quadratic regulator(LQR) method, hardware-anddriver-in-the-loop simulation test rig

CLC Number: 

  • U461.91
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