摘要
极限工况下,车辆纵向侧向运动存在严重的耦合,传统的纵向或侧向主动安全控制技术难以保证车辆的操纵性能.基于复合滑移LuGre轮胎模型,提出了一种车辆横纵耦合协同优化控制器.建立了车辆侧向动力学模型,它能够反映出轮胎滑移率和侧偏角耦合特性对汽车侧向力的影响.然后,在预测控制框架下,设计车辆横纵耦合协同优化控制器,跟踪期望的横摆角速度和侧向速度,抑制滑移率,保证低附着路面下的车辆操纵稳定性.通过CarSim和MATLAB/Simulink的联合仿真,与基于纯侧偏轮胎模型的控制器控制性能进行对比,结果表明:所提出的控制器能够通过更少的输出扭矩更好地跟踪期望横摆角速度,抑制侧向速度,降低滑移率.
In the extreme driving conditions and nonlinear operating regions,the combined-slip(combined friction)case is a dominant phenomenon,and can't be ignored.Considering this characteristic of tire models,a vehicle’s lateral dynamic model is designed based on the combined-slip LuGre tire model,which incorporates the effect of the slip ratio and slip angle simultaneously at each corner.Then,a lateral-longitudinal coordinated controller based on model predictive control is proposed to improve the vehicle stability.The multiple control objectives,including tracking the reference signals of the yaw rate and lateral velocity,reducing the tire slip ratio,and satisfying the required torque are balanced.The performance is evaluated by co-simulation of CarSim and MATLAB/Simulink.Results show that the proposed controller has better performance than the controller based on pure-slip tire model and save more energy effectively.
作者
李梓涵
陈虹
王萍
LI Zihan;CHEN Hong;WANG Ping(The State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130025,China;Control Science and Engineering,Jilin University,Changchun 130025,China)
出处
《同济大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2019年第S01期1-8,共8页
Journal of Tongji University:Natural Science
基金
国家重点研发计划(2018YFB0104805)
国家自然科学基金项目(61790564)
吉林省科技发展计划项目(20180101326JC).
