摘要
考虑路面附着条件对车辆横摆响应的影响,设计了路面附着系数修正的主动转向控制策略.为了迅速准确地获取当前路面附着信息,采用了无迹卡尔曼滤波观测器观测路面附着系数,并用Carsim-Simulink联合仿真验证了此方法的有效性.在传统主动转向控制的基础上将路面附着系数作为输入,设计了滑模控制器.通过Simulink仿真,验证了所设计的滑模控制器在低附着路面、对接路面均能提高车辆的操纵稳定性和理想轨迹跟踪能力.
Considering the impact of tire-road friction coefficient on the yaw motion of vehicles, an active steering control strategy based on the estimation of tire-road friction coefficient was designed. In order to obtain the real-time tire-road friction coefficient, observer was established based on the Unscented Kalman Filter theory, and the co-simulation method with Carsim and Simulink shows that the Unscented Kalman Filter observer is effective. Based on the control of conventional active front steering, a sliding mode controller was designed addressing the tire-road friction coefficient as the input. The simulation analysis by Simulink shows that the sliding mode controller can improve the stability of the vehicle handling and the ideal trajectory tracking ability on slippery and opposite roads.
作者
周兵
田晨
宋义彤
吴晓建
ZHOU Bing TIAN Chen SONG Yitong WU Xiaojian(State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082 ,China)
出处
《湖南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2017年第4期16-22,共7页
Journal of Hunan University:Natural Sciences
基金
国家自然科学基金资助项目(51275162
51575167)
国家重点研发计划新能源汽车重点专项项目子课题(2016YFB0100903-2)
吉林大学汽车仿真与控制国家重点实验室开放基金资助项目(20121109)~~
关键词
主动前轮转向
无迹卡尔曼滤波
路面附着系数
状态观测
active front steering
unscented Kalman filter
friction coefficient
state observation
