摘要
针对线控制动系统单轮制动失效时车辆制动稳定性控制问题,提出了协同线控转向和线控制动系统的制动力优化分配控制策略.为了最大程度满足驾驶员的制动期望,采用二次规划方法初始分配剩余三轮制动力;为防止车辆因制动力重构产生横摆或跑偏,采用滑模控制方法设计前轮转向控制器;考虑前轮转向对轮胎纵向力的影响,建立基于魔术公式的轮胎侧向力数学模型,基于二次规划方法实时优化轮胎在侧偏纵滑工况下的制动力.联合Simulink和Carsim进行了仿真实验分析,结果显示车辆的横摆角速度快速收敛为0,侧向跑偏距离均小于0.1m.结果验证了本文提出的制动力优化分配控制策略在不同的制动工况下均能提高单轮制动失效车辆的制动稳定性.
In order to solve the problem of vehicle stability control after single wheel brake failure in the brake-by-wire system,the control strategy of optimal braking force distribution was proposed by cooperating the steer-by-wire and brake-by-wire systems.To meet the driver's desired deceleration as closely as possible,the braking force of the remaining three wheels was redistributed initially by the sequential quadratic programming method.The front steering controller was designed by sliding mode control method in order to prevent the vehicle from deflection and spin caused by the braking force reconstruction.Considering the influence of the front steer on the longitudinal force of the tire,the mathematical model of tire lateral force based on the magic formula was established.The braking force was optimized in the real time under the side slippery condition by the sequential quadratic programming method.A co-simulation experiment established by Simulink and Carsim was carried out to analyze the strategy,and the result showed that the yaw rate of the vehicle quickly converged to 0 and the lateral deviation displacement was less than 0.1 m.The result verifies that the proposed method of optimal braking force distribution can improve the braking stability of single wheel brake failure vehicle under different braking conditions.
作者
彭晓燕
温开虎
PENG Xiaoyan;WEN Kaihu(College of Mechanical and Vehicle Engineering,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
2018年第10期44-53,共10页
Journal of Hunan University:Natural Sciences
基金
国家自然科学基金资助项目(51575167)~~
关键词
线控制动
单轮制动失效
线控转向
制动力协同优化分配
滑模控制
brake-by-wire
single tire brake failure
steer-by-wire
cooperative optimal braking force distribution
sliding mode control
