全轮转向非线性重型车辆稳定性集成控制研究

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Abstract A 10-DOF nonlinear dynamic model for a certain 3-axle heavy-duty vehicle was established to study its maneuvering stability.Its tire longitudinal and lateral forces were calculated with the nonlinear brush model.Considering effects of vertical load transition and wheel sliding rate on tire lateral forces, based on the brush model, the tire cornering stiffness of the vehicle reference model was reversely estimated and dynamically corrected.Using Ackerman principle and Fuzzy PID control technology, an integrated controller (6WS+DYC) combining the active proportional steering control (6WS) and the direct yaw moment control (DYC) was designed.The normal value of yaw rate of the reference model was determined with the critical speed when the yaw rate of the vehicle front wheel steering (FWS) was equal to that of its all-wheel steering (6WS).Based on the software MATLAB/Simulink, the vehicle model and three controllers of 6WS, DYC and 6WS+DYC were built to simulate vehicle responses under two limit working conditions of high speed steering and low adhesion road surface steering.The effectiveness of three controllers is contrastively analyzed.The results showed that the 6WS control can reduce the instability of the vehicle to a certain extent; the DYC control and the 6WS+DYC one can ensure the heavy-duty vehicle to have a better stability under limit working conditions; the 6WS+DYC control can make vehicle sideslip angles two limit working conditions be close to zero, and can effectively reduce vehicle’s yaw rate, spring mass side inclination and vehicle’s lateral acceleration, its control effect is obviously superior to those of the 6WS control and the DYC one.

Key words： heavy-duty vehicle all-wheel steering direct yaw moment control integrated control dynamic correction of the tire cornering stiffness

Received: 22 December 2017 Published: 28 April 2019

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	Articles by authors
	LI Shaohua1
	2
	ZHANG Zhida1
	ZHOU Junwei1

Cite this article:

LI Shaohua1,2,ZHANG Zhida1, et al. Nonlinear integrated control for maneuvering stability of a heavy-duty vehicle with all-wheel steering[J]. JOURNAL OF VIBRATION AND SHOCK, 2019, 38(9): 148-156.

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http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2019/V38/I9/148

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