第19卷第24期系统仿真学报@
v01.19N。.24
2007年12月JournalofSystemSimulationDec.,2007
VehicleDynamicsControllerDesign
forImprovingVehicleHandlingandStability
WUJian—yon91,TANGHou-junl,LIShao—yuanl,LIChang—gan92
(1.DepartmentofAutomation,ShanghaiJiaotongUniversity,Shanghai200240,China;
2.DepartmentofElectronicsandInformation,ZhejiangWanli
University,Ningbo315100,China)
Abstract:Anewvehicledynamicscontrol(VDC)systemwithatwo—layerhierarchical
structurewasproposedtoimprovevehiclehandlingperformanceandstability.Thefirst
、ayerisarobustmodelmatchingcontroller{R.MMC)basedonlinearmatrixinequalities
(LMIs),whichoptimizesadesiredyawmomenttoworkonthevehicleandcalculates
referencewheelslipforthetargetwheelaccordingtothedesiredyawmoment.Thesecond
layerisamoving“f讲n2modecontroller(MSMC)thatcantrackthecalculatedreference
wheelslipaccuratelyinapredeterminedtimebycommandingproperbrakingtorqHeon
thetargetwheel.Thesimulationresultsshowthattheproposedcontrolsystemiseffectiveandrobustwhenthevehicleissunectedtodifferentcriticalsteeringinputsandroadsurfaceconditions.
Keywords:vehicledynamicscontrol;robustmodelmatchingcontrol;linearmatrixinequality;movingslidingmodecontr01
提高汽车操纵稳定性的控制器设计
武建勇1,唐厚君1,李少远1,李昌刚2
(1.上海交通大学自动化系,上海200240;2.浙江万里学院电子信息学院,宁波315100)
摘要:为提高汽车操纵稳定性,设计了一种新颖的两级分层探纵稳定性控制系统。分级控制系统的第一层是—基于线性矩阵不等式的鲁棒模型匹配控制器。当汽车处于不稳定行驶状态时,该控制器优化稳定整车操纵性的横摆控制力矩,并根据该横摆力矩计算目标控制车轮的滑移率。控制系统的第二层是一移动滑模控制器。该控制器可以在预定的时间内精确地跟踪第一层控制器输入的参考滑移率,并对目标控制车轮施加制动力矩来达到稳定汽车操纵性的目的。在各种极限行驶状况下的仿真试验表明,该控制器可以有效地提高汽车操纵稳定性,而且该控制器对不同车速,各种附着系数的路面和车辆物理参数的变化具有很好的鲁棒性。
关键词:汽车操纵稳定性;鲁棒模型匹配控制;线性矩阵不等式;移动滑模控制
中图分类号:U461.6;TPl3文献标识码lA文章编号l1004—731X(2007)24—5789—08
Introduction
Vehicleactivesafetysystemanddriverassistancesystemhavebeenpopularresearchtopicsforimprovingvehiclesafetyandreducingdriverworkloadsincethe1990s.Oneofthemainchallengesisthedevelopmentofvehicledynamicscontrol(VDC)system[1,2】.VDCsystemcanstabilizethevehiclebehaviorinemergencysituationssuchasspinning,driftoutandrollover.Itimprovesvehicleactivesafety
andcomfortgreatly.Whenavehicleapproachesthephysicaladherelimitsbetweenroadandtires,itbecomeslessresponsibletothedriver’ssteeringinputanditsbehaviorsbecomelesspredictable.Anexplanationofthisemergencysituationcanbefoundin1iterature[3].InthisPaper,the∥methodwas
Receiveddater2006.10.16Reviseddate:2007—01—23
Biographyt
WuJianyongisaPhDcandidateofShanghaiJiaoTonguniversity,andisfocusonvehicledynamicscontrolandrobustcontr01.developedtoanalyzetheinfluenceofvehiclesideslip
angleonitshandlingandstability.However,VanZantenetalpointoutthatnotonlyvehiclesideslip
anglebutalsoyawrateshouldbetakenascontrollingobjectivesinVDCsystem[1】.Fromtirecharacteristics,longitudinalforceusuallyhasamargintosaturation,even
when1ateralforcesarenearsaturation.Therefore,
theproperdistributionofdrivingorbrakingforcebetweentheleftandrightwheelsisthemostcommonapproachtoachievingthedesireddynamicresponsesinVDCsystem.
Inrecentyears,manycontrollawsforVDCsystemhavebeeninvestigated.DirectyawmomentcontrollawbasedonalinearvehiclemodelandalinearquadraticoptimaltheoryhasbeendevelopedbyShinoetal[41.Boadaetalproposeafuzzylogiccontrolsystemtocontrolvehicleyawmomentforvehiclestability[51.SlidingmodecontrollersdesignedtominimizethevehiclesideslipangleandyawrateerrorhavebeendevelopedbyUematsuetal[6】.Park