欢迎访问《汽车安全与节能学报》，
汽车安全与节能学报

JASE ›› 2018, Vol. 9 ›› Issue (4): 418-426.DOI: 10.3969/j.issn.1674-8484.2018.04.008

• 汽车安全 • 上一篇    下一篇

基于主动轮胎力的汽车稳定性协调控制系统

黄开启，王新健，瞿桂鹏   

  1. （江西理工大学 机电工程学院，赣州341000）
  • 收稿日期:2018-08-01 出版日期:2018-12-31 发布日期:2019-01-02
  • 作者简介:第一作者 / First author ： 黄开启(1969—)，男( 汉)，安徽，教授。 E-mail: kaiqi.huang@163.com。
  • 基金资助:

    江西省科技支撑项目(20123BBE50085)。

Coordination control system for vehicle stability based on active tire force

HUANG Kaiqi, WANG Xinjian, QU Guipeng   

  1. (School of Mechanical and Electrical Engineering, Jiangxi university of Science and Technology, Ganzhou 341000, China)
  • Received:2018-08-01 Online:2018-12-31 Published:2019-01-02

PDF

290

摘要：

       提出一种基于质心侧偏角逻辑门和横摆角速度跟踪的电子稳定程序（ESP）和主动前轮转向（AFS）主动轮胎力模糊协调控制策略。该控制系统采用分层结构，设计了ESP 单神经元自适应比例微分积分（PID）控制器、理想变传动比前馈加横摆角速度滑模反馈AFS 控制器作为下层控制器；根据不同行驶工况，上层模糊协调控制器决策各子系统的最优分配权重，实现车辆动力学集成控制解耦；应用软件ADMAS/Car 和Simulink 建立整车动力学稳定性控制联合仿真模型。结果表明：与单独控制和并存控制相比，该协调控制器改善了车辆对期望路径的跟踪性能，提高了车辆操纵稳定性控制系统的全局鲁棒性。

关键词: 车辆稳定性, 电子稳定程序（ESP）, 主动前轮转向（AFS）, 主动轮胎力, 模糊控制, 协调控制

Abstract:

An electronic stability program (ESP) and an active front steering (AFS) active tire force fuzzy coordination control strategy were proposed based on sideslip angle logic gate and yaw rate tracking. The control system adopted a hierarchical structure. The designed lower layer consisted of a single neuron adaptive
proportion integration differentiation (PID) controller for the ESP and an ideal variable ratio feedforward with yaw rate feedback sliding mode controller for the AFS. The weight fuzzy coordinated control of each subsystem was decided to decoupling of vehicle dynamics integrated control system and global optimal allocation of the ESP and the AFS under different driving conditions in the upper layer of control system. The vehicle dynamics stability co-simulation model was established on the base of software ADMAS/Car and Simulink. The results show that the coordinate controller improves the vehicle tracking performance for the desired path and the global robustness of vehicle stability control system, compared with controller of the single control and the coexist control.

Key words: vehicle stability, electronic stability program (ESP), active front steering (AFS), active tire force, fuzzy control, coordinated control